Closed lz89 closed 6 years ago
As far as I know, the answer is no...
@lz89 We have been able to do this, thanks to @diogoalmeida.
So, what you should do is:
If everything went well, you should be able to move YuMi's arms without the RWS/EGM connection being lost. Hence, all the joint states should be recordable.
NOTE: Be very careful when you enable lead through. If your robot is carrying any object, its arms will fall. Also, don't move the arms too fast, or you'll get Motion supervision triggered.
Please let me know if this helps,
Yoshua
Just note that this is a workaround and not a solution to the problem, and that it works sometimes.
Hi,
I wonder if there is a way to enable lead-through mode while the ROS server is running. Therefore, the ROS side can read robot's joint positions without sending command to the robot. This is particular useful for demonstration as well as hand-eye calibration.