The UR3 and UR3e have no revolution limit on its wrist 3 joint. Therefore, add the functionality, of reset the revolution counter, to make this hardware feature more usable through this library, thus ROS and ROS2 driver.
Suggested implementation
Make the call to the reset_revolution_counter() urscript like zero_ftsensor().
Though the call should not be made a move function is active.
[ ] Make documentation that also mention that this is a feature for UR3 and UR3e. And should not be used when there is external cable and tubes attached to the EndOfArmTooling as the cable will limit the joint angle.
fmauch
commented
3 months ago
Feature summary
The UR3 and UR3e have no revolution limit on its wrist 3 joint. Therefore, add the functionality, of reset the revolution counter, to make this hardware feature more usable through this library, thus ROS and ROS2 driver.
Suggested implementation
Make the call to the reset_revolution_counter() urscript like zero_ftsensor(). Though the call should not be made a move function is active.
Related issues
https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/pull/343
Tasks
To complete this issue involves