Fautly joint values visualized.

hellantos / prbt_robot

Apache License 2.0

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Fautly joint values visualized. #2

Closed ipa-vsp closed 1 year ago

ipa-vsp commented 1 year ago

During real robot. Screenshot from 2023-04-25 13-32-05

Command: ros2 launch prbt_robot_support prbt_setup_hw.launch.py

Todo:

[x] add more detail to this issue
[x] Investigate URDF whether it is configured correctly or check joint_states from the real robot via CANopen driver.

ipa-vsp commented 1 year ago

The joint values are obtained in degrees. Therefore this fault exists. To fix this issue, add scale_pos_from_dev: 0.00001745329252 in bus.yml file. Reference here