Added Gripper Calibration script to perform a calibration of gripper zero value. The script subscribes to the joint states positions and calculates the error. Upon reaching ~zero error it notes the offset value and passes it to the SDK via gripper_calib_srv (ROS Service). This service updates the gripper offset in the joint states using the gripper_map.
To make this process modular the Gripper Calibration routine takes in parameters for the robot name and the motor config path. This node is added to the xsarm_control.launch in the interbotix_ros_manipulators package. Thus upon startup of the controller launch file, the gripper_calibration node is executed.
I have made a pull request for changes in the launch and yaml files in the interbotix_ros_manipulators package to make it compatible with all the robots.
Added Gripper Calibration script to perform a calibration of gripper zero value. The script subscribes to the joint states positions and calculates the error. Upon reaching ~zero error it notes the offset value and passes it to the SDK via gripper_calib_srv (ROS Service). This service updates the gripper offset in the joint states using the gripper_map.
To make this process modular the Gripper Calibration routine takes in parameters for the robot name and the motor config path. This node is added to the xsarm_control.launch in the interbotix_ros_manipulators package. Thus upon startup of the controller launch file, the gripper_calibration node is executed.
I have made a pull request for changes in the launch and yaml files in the interbotix_ros_manipulators package to make it compatible with all the robots.