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hans-robot / elfin_robot

ROS meta-package for Elfin robot
http://wiki.ros.org/Robots/Elfin
BSD 3-Clause "New" or "Revised" License
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Calibration procedure #10

Closed wxmerkt closed 5 years ago

wxmerkt commented 5 years ago

Hi, our arm is out of calibration, i.e., it is not straight anymore in the home position despite the correct count_zeros value. We assume this to be due to pulse mismatch. Do you have a procedure for recalibrating the count_zeros?

onionsflying commented 5 years ago

Hi, you can move the arm to the straight position and then use the service elfin_ros_control/elfin/get_current_position to get the current encoder value i.e. the current count_zeros.

wxmerkt commented 5 years ago

Awesome, thank you. We did not notice any alignment marks on the robot - should there be any markings (as on other manufacturers’ robots)?

onionsflying commented 5 years ago

Unfortunately, Elfin doesn't have alignment marks. We are planning to add alignment marks in the future.

wxmerkt commented 5 years ago

Thank you, I have visually aligned and look very much forward to alignment marks in future versions.