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DFKI-NI / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Post correct x, y and orientation values to MiR100 and MiR200 #39

Closed vikram-gopinath closed 3 years ago

vikram-gopinath commented 4 years ago

Hi Mintar,

My MiR100 and MiR200 operate in dynamic environments and constantly lose localization. Could you share how I should go about updating the correct x, y and orientation values (more accurate values which I have obtained by other means). I am guessing I would have a publisher node to constantly publish the correct values and overwrite the x, y and orientation values on the MiR. Looking forward to your reply.

Best, Vikram

rsr152 commented 4 years ago

Vikram, one way to do it is to use the MiR's API to write the correct position and orientation to the robot.

The command is as follows: Rest Command: 192.168.xx.yy/api/v2.0.0/status

Raw text (0,0,0 is the example here): { "position": { "y": 0, "x": 0, "orientation": 0} }

You'll have to add the other syntax for the API call from your code.

If you have done it some other way, please share.

vikram-gopinath commented 4 years ago

Thanks for the response. Used REST API as you described as it was way easier than using ROS.