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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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UR Driver gives my wrong poses #292

Closed chandanlal92 closed 5 years ago

chandanlal92 commented 5 years ago

Hello,

I am using UR_modern driver with UR-10 Robot to do hand_eye calibration using easy_handeye calibration ros service. The poses which I am recieving from the ur driver seems to be mismatched with the direction. It gives me x=-363.23 where my robot panel shows X=363.23 Same cases with Y.Z seems to be correct.

chandanlal92 commented 5 years ago

How to test the current poses?

gavanderhoorn commented 5 years ago

You'll have to tell us which transform you are looking at.

If you're inspecting base_link->tool0, the 180 degree difference is expected.

If you're using base->tool0, then you should get the proper poses.

All depending on your toolframe setup also of course.

chandanlal92 commented 5 years ago

Both base->tool0 and base_link->tool0

chandanlal92 commented 5 years ago

Now I am getting correct value after using base->tool0. Thank you for the info.

gavanderhoorn commented 5 years ago

Please also note: this is not something in ur_modern_driver, but in ur_description (here).