[OpenArm] ROS 2 controller manager switching and safe restart for builders integrators (intermediate)
OpenArm troubleshooting thread: [OpenArm] ROS 2 controller manager switching and safe restart for builders integrators (intermediate). Practical checks, likely ro...
A recurring OpenArm problem is that controller_manager changes look fine in logs but leave the robot in an unsafe or confusing state after a switch or restart.
How are you handling ROS 2 controller switching and safe restart order on OpenArm when you move between bringup, teleop, and task-specific controllers?
Please share the restart order, stale-state checks, and how you confirm the arm is ready before operators continue.
If you reply, include one exact controller-switch symptom and one exact restart or validation step that fixed it.
Useful replies will explain the exact order of stop, unload, reload, and enable rather than saying restart everything.
If stale joint state or lingering command topics caused the issue, say that clearly. Many teams search for those exact symptoms.
A short pre-motion validation sequence after restart is especially valuable here.