Obbart/universal_robots_ros_driver
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Adds mini-tutorial about tool0_controller frame

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Simon Jansen
2015-11-18 12:56:40 +01:00
parent dc7204fe6e
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README.md
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@@ -83,6 +83,29 @@ controller_list:
- wrist_3_joint
```
## Using the tool0_controller frame
Each robot from UR is calibrated individually, so there is a small error (in the order of millimeters) between the end-effector reported by the URDF models in https://github.com/ros-industrial/universal_robot/tree/indigo-devel/ur_description and
the end-effector as reported by the controller itself.
This driver broadcasts a transformation between the base link and the end-effector as reported by the UR. The default frame names are: *base* and *tool0_controller*.
To use the *tool0_controller* frame in a URDF, there needs to be a link with that name connected to *base*. For example:
```
<!-- Connect tool0_controller to base using floating joint -->
<link name="tool0_controller"/>
<joint name="base-tool0_controller_floating_joint" type="floating">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link=base"/>
<child link="tool0_controller"/>
</joint>
```
Now, the actual transform between *base* and *tool0_controller* will not be published by the *robot_state_publisher* but will be taken from this driver via */tf*.
NOTE: You need an up-to-date version of *robot_state_publisher* that is able to deal with floating joints, see: https://github.com/ros/robot_state_publisher/pull/32
## Compatability
Should be compatible with all robots and control boxes with the newest firmware.