This makes the calibration controllers more flexible without changing behavior in an inappropriate way.
The only change in existing functionality is that the calibrated topic will only be published once as a latch message instead of continuously announcing over and over again to the same clients that it finished calibrating.
This works together with https://github.com/TAMS-Group/tams_pr2_refine_startup_calibration to provide a more accurate initialization to detect the hardware zero crossings. In practice we can reduce the noise (one sample per startup) of detection from up to 0.2rad(!) to around 0.01-0.02 depending on the joint.
I am utterly confused why nobody looked into this before and although our transmission belts might be especially loose the procedure can definitely also improve precision of other group's robots.
@k-okada I use this on our PR2. Are you ok with me merging this here?
This makes the calibration controllers more flexible without changing behavior in an inappropriate way. The only change in existing functionality is that the
calibratedtopic will only be published once as a latch message instead of continuously announcing over and over again to the same clients that it finished calibrating.This works together with https://github.com/TAMS-Group/tams_pr2_refine_startup_calibration to provide a more accurate initialization to detect the hardware zero crossings. In practice we can reduce the noise (one sample per startup) of detection from up to 0.2rad(!) to around 0.01-0.02 depending on the joint.
I am utterly confused why nobody looked into this before and although our transmission belts might be especially loose the procedure can definitely also improve precision of other group's robots.
@k-okada I use this on our PR2. Are you ok with me merging this here?