{"action":"created","issue":{"url":"https://api.github.com/repos/ipa320/ros_canopen/issues/54","labels_url":"https://api.github.com/repos/ipa320/ros_canopen/issues/54/labels{/name}","comments_url":"https://api.github.com/repos/ipa320/ros_canopen/issues/54/comments","events_url":"https://api.github.com/repos/ipa320/ros_canopen/issues/54/events","html_url":"https://github.com/ipa320/ros_canopen/issues/54","id":54559714,"number":54,"title":"Failure during switch routine","user":{"login":"thiagodefreitas","id":920086,"avatar_url":"https://avatars.githubusercontent.com/u/920086?v=3","gravatar_id":"","url":"https://api.github.com/users/thiagodefreitas","html_url":"https://github.com/thiagodefreitas","followers_url":"https://api.github.com/users/thiagodefreitas/followers","following_url":"https://api.github.com/users/thiagodefreitas/following{/other_user}","gists_url":"https://api.github.com/users/thiagodefreitas/gists{/gist_id}","starred_url":"https://api.github.com/users/thiagodefreitas/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thiagodefreitas/subscriptions","organizations_url":"https://api.github.com/users/thiagodefreitas/orgs","repos_url":"https://api.github.com/users/thiagodefreitas/repos","events_url":"https://api.github.com/users/thiagodefreitas/events{/privacy}","received_events_url":"https://api.github.com/users/thiagodefreitas/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ipa320/ros_canopen/labels/bug","name":"bug","color":"fc2929"}],"state":"open","locked":false,"assignee":null,"milestone":{"url":"https://api.github.com/repos/ipa320/ros_canopen/milestones/1","labels_url":"https://api.github.com/repos/ipa320/ros_canopen/milestones/1/labels","id":871141,"number":1,"title":"ROS-I release","description":"Release ros_canopen under ROS-I.\r\n\r\n- need to cleanup package.xml(s) regarding maintainer, URLs, description\r\n- should be forked from the ros-industrial user\r\n- need to setup a push team (maintainer)\r\n- create documentation (for users and developers) --> user: ROS wiki, developer: github README\r\n- announce on blog post","creator":{"login":"ipa-fmw","id":158051,"avatar_url":"https://avatars.githubusercontent.com/u/158051?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fmw","html_url":"https://github.com/ipa-fmw","followers_url":"https://api.github.com/users/ipa-fmw/followers","following_url":"https://api.github.com/users/ipa-fmw/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fmw/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fmw/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fmw/subscriptions","organizations_url":"https://api.github.com/users/ipa-fmw/orgs","repos_url":"https://api.github.com/users/ipa-fmw/repos","events_url":"https://api.github.com/users/ipa-fmw/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fmw/received_events","type":"User","site_admin":false},"open_issues":6,"closed_issues":3,"state":"open","created_at":"2014-11-18T13:34:18Z","updated_at":"2015-02-09T08:46:13Z","due_on":"2015-02-17T23:00:00Z","closed_at":null},"comments":2,"created_at":"2015-01-16T10:17:34Z","updated_at":"2015-02-09T08:55:02Z","closed_at":null,"body":"When the joint limit is reached, e.g. arm_7_joint, and the control_mode_adapter switches back from velocity to trajectory mode, switching fails and the switching service returns false, and by false the controller_manager stays in velocity control mode but the joints that were not in the joint limits,  have already switched to trajectory mode while arm_7_joint  is in error state(joint limits) and thus cannot switch.\r\n\r\nThe desired behavior would be to do not switch any joint, in case one has an error state.\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ipa320/ros_canopen/issues/comments/73475381","html_url":"https://github.com/ipa320/ros_canopen/issues/54#issuecomment-73475381","issue_url":"https://api.github.com/repos/ipa320/ros_canopen/issues/54","id":73475381,"user":{"login":"ipa-mdl","id":727227,"avatar_url":"https://avatars.githubusercontent.com/u/727227?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-mdl","html_url":"https://github.com/ipa-mdl","followers_url":"https://api.github.com/users/ipa-mdl/followers","following_url":"https://api.github.com/users/ipa-mdl/following{/other_user}","gists_url":"https://api.github.com/users/ipa-mdl/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-mdl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-mdl/subscriptions","organizations_url":"https://api.github.com/users/ipa-mdl/orgs","repos_url":"https://api.github.com/users/ipa-mdl/repos","events_url":"https://api.github.com/users/ipa-mdl/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-mdl/received_events","type":"User","site_admin":false},"created_at":"2015-02-09T08:55:02Z","updated_at":"2015-02-09T08:55:02Z","body":"Will be fixed in the ros-controls stacks, but we need some clean-up on our side as well."}}