Start sequence by sensor

[WilberRojas]

Hello, did someone try to read a sensor connected to the KUKA computer to initiate a sequence?
I already have the sequence, I just need to activate the trigger with the sensor, but I couldn't find documentation on how to do it with ROS and MoveIt.

[gavanderhoorn]

I'm not sure I understand what you mean by sequence, but if you're looking to trigger some kind of behaviour or algorithm based on some signal on the KRC, you could subscribe to the rsi_xml_doc topic and inspect the full RSI XML document.

If you then configure the RSI container such that it forwards the state of that signal as part of the RSI XML document, you should be able to trigger something on the ROS side based on that.