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ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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How to get the raw value of force_torque_sensor? #637

Closed KentoYamamotoNU closed 1 year ago

KentoYamamotoNU commented 1 year ago

I am using a robot hand (2F-85) from robotiq attached to UR. When UR is started, the value of force_torque_sensor is initialized and the force shown in the /wrench topic is the picture below. image1 The posture at this time is the picture below. image0 The value of force_sensor is corrected and the value changes as shown in the picture below about 3 minutes later, even though UR is not moved. image6 Also, if the robot hand was rotated 90 degrees around the x-axis and the y and z values will be different, as shown in the picture below. image2 image3 How can I get the raw data of force_torque_sensor without any correction?

gavanderhoorn commented 1 year ago

I would assume you are using either UniversalRobots/Universal_Robots_ROS_Driver or the ROS 2 version of that driver.

In any case I'd suggest to post your question there, as we don't support that driver here.

If you do post your question on UniversalRobots/Universal_Robots_ROS_Driver: please don't post screenshots/photos of terminals. Just copy-paste the text from the terminal into your question.

KentoYamamotoNU commented 1 year ago

Thanks for the replies and advice. I reposted it in UniversalRobots/Universal_Robots_ROS_Driver.