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UniversalRobots / Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series
BSD 3-Clause "New" or "Revised" License
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Extract calibration data from robot controller #28

Closed AndyZe closed 3 years ago

AndyZe commented 3 years ago

Implement this: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/master/ur_calibration

gavanderhoorn commented 3 years ago

To clarify: the ROS 1 driver extracts whatever calibration is present on the controller. There is no actual calibration procedure performed.

Unless you're referring to some other form of calibration in the issue title of course.

destogl commented 3 years ago

@AndyZe can you give more information on this?

AndyZe commented 3 years ago

I think this is low priority, but we want to be able to do what the old ur_calibration package does.

https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/master/ur_calibration

gavanderhoorn commented 3 years ago

This was one of the main features of the official ROS 1 driver.

Without this, FK based on JointState messages can be off by as much as 1 cm.