I've been working on setting up an IRB2400 in ROS2, and along the way I've found something that seems very wrong, and I'm not sure how to proceed with it.
Basically, the way the 2400 URDF is set up is there are lever joints which mimic J3... however, this isn't how an actual 2400 works. When jogging J2 in joint mode on a 2400, the pivot point which is J3 in the URDF would actually take on the value that I think is J2 - joint_lever_b... This can be seen by jogging J2 with a physical IRB2400 and seeing very clearly that the angle at J3 in the URDF changes.
I'm going to work on correcting this but I'm not at the time of writing sure how I'm going to do this.
Hello!
I've been working on setting up an IRB2400 in ROS2, and along the way I've found something that seems very wrong, and I'm not sure how to proceed with it.
Basically, the way the 2400 URDF is set up is there are lever joints which mimic J3... however, this isn't how an actual 2400 works. When jogging J2 in joint mode on a 2400, the pivot point which is J3 in the URDF would actually take on the value that I think is J2 - joint_lever_b... This can be seen by jogging J2 with a physical IRB2400 and seeing very clearly that the angle at J3 in the URDF changes.
I'm going to work on correcting this but I'm not at the time of writing sure how I'm going to do this.
Is this something anyone else has bumped into?
Thanks, Josh