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I am using Moveit! to control the UR10 robot in Gazebo. I want to stop the current robot motion during execution. I try to use group.stop() in my python code, but instead of stopping the execution, the robot suddenly moves to the initial position (all the joint values are 0). Moreover, I try to stop the controllers by calling the service "rosservice call ROBOT/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['manipulator_controller'], strictness: 1}". This can successfully stop the execution. However, if I want to restart the controller again, the robot still go to the initial position. I would like to ask that how can I stop the UR10 robot execution in Gazebo? Also, I want to restart to do other actions later. Thanks.

I am using Moveit! to control the UR10 robot in Gazebo. I want to stop the current robot motion during execution. I try to use group.stop() in my python code, but instead of stopping the execution, the robot suddenly moves to the initial position (all the joint values are 0). Moreover, I try to stop the controllers by calling the service "rosservice call ROBOT/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['manipulator_controller'],

{start_controllers: [], stop_controllers: ['manipulator_controller'], strictness: 1}". 1}

. This can successfully stop the execution. However, if I want to restart the controller again, the robot still go to the initial position. I would like to ask that how can I stop the UR10 robot execution in Gazebo? Also, I want to restart to do other actions later. Thanks.

I am using Moveit! to control the UR10 robot in Gazebo. I want to stop the current robot motion during execution. I try to use group.stop()

group.stop()

in my python code, but instead of stopping the execution, the robot suddenly moves to the initial position (all the joint values are 0). Moreover, I try to stop the controllers by calling the service "rosservice call ROBOT/controller_manager/switch_controller

rosservice call ROBOT/controller_manager/switch_controller {start_controllers: [], stop_controllers: ['manipulator_controller'], strictness: 1}

. This can successfully stop the execution. However, if I want to restart the controller again, the robot still go to the initial position. I would like to ask that how can I stop the UR10 robot execution in Gazebo? Also, I want to restart to do other actions later. Thanks.

I am using Moveit! to control the UR10 robot in Gazebo. I want to stop the current robot motion during execution. I try to use

group.stop()

in my python code, but instead of stopping the execution, the robot suddenly moves to the initial position (all the joint values are 0). Moreover, I try to stop the controllers by calling the service

rosservice call ROBOT/controller_manager/switch_controller {start_controllers: [], stop_controllers: ['manipulator_controller'], strictness: 1}

. This can successfully stop the execution. However, if I want to restart the controller again, the robot still go goes to the initial position. I would like to ask that how can I stop the UR10 robot execution in Gazebo? Also, I want to restart to do other actions later. Thanks.