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DENSORobot / denso_robot_ros

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How to change arm to gravity mode in ros #14

Closed zhoubo2018 closed 3 years ago

zhoubo2018 commented 5 years ago

I want to do a camera calibration to arm, but when I take example points of marker, I want to change the arm to gravity mode or teach mode, how can I do that? thanks.

ToshitakaSuzuki commented 5 years ago

Sorry, denso_robot_bringup dose not be designed to allow gravity mode.

To consider another way, let me ask a question: While taking example points of maker, what you want to do is:

Are these two?

Thank you.

zhoubo2018 commented 5 years ago

thanks for reply, yes, I want to the two things in ros,now I use move it to control the arm when camera take examples for calibration, but the result of calibration is not very good. because in techpad there is a direct mode that when I hold the button on arm , cobotta can change to gravity mode. so I want to ask how to do that in ros.

ToshitakaSuzuki commented 5 years ago

Sorry for my late reply. COBOTTA cannot switch normal mode to direct mode automatically from ros. It is necessary to use a teach pad and then push the button on arm for the safety reason.

Do you use some camera-robot calibration ros package or develop it on your own?

ToshitakaSuzuki commented 3 years ago

I will close this issue due to no response. If there is any progress, please let me know again.