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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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`/tf` incorrect on `R1+R2+B1+B2` configuration #196

Closed ted-miller closed 7 months ago

ted-miller commented 7 months ago

There is a report of the /tf data not corresponding with /joint_states for B2.

I suspect that this is caused by the multi-robot calibration being performed while B2 is not in the home/zero position. (Due to the physical distance between the home positions.)

I've got a CMOS to test/investigate. My initial speculation is that the calibration needs to be performed while both bases are at zero-position. So, the home position of B2 might need to be modified.

ted-miller commented 7 months ago

Loaded the CMOS and it behaved as intended. I think there is just a misunderstanding of the expected behavior. Closing the issue. Will reopen if a problem is found later.