flexivrobotics/flexiv_rdk

[BUG] flexiv::Robot::isBusy() sometimes gives false negative

Closed this issue · 1 comments

pzhu-flexiv commented

Version information

  • RDK: [v0.8]
  • Robot software: all that are compatible with RDK v0.8
  • OS: all supported

Describe the bug
flexiv::Robot::isBusy() has a chance to return false even if the robot is doing some task.

Steps to reproduce

  1. Setup a connection between RDK client and the robot that has a fluctuating round-trip network latency, with peak value > 50ms.
  2. Call flexiv::Robot::executePrimitive()
  3. Immediately after, call isBusy() and check the return value.
  4. Depending on the network fluctuation, the return value will sometimes be false even if the robot is already executing the commanded primitive.

Expected behavior
isBusy() always returns the correct value.

pzhu-flexiv commented

Will be fixed in v0.9.