58483f91b7
This way, it is not necessary to have a roscore running when doing the calibration extraction.
ur_calibration
Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF
Nodes
calibration_correction
This node extracts calibration information directly from a robot, calculates the URDF correction and saves it into a yaml file.
With the parameters explained below calibration will be saved inside
<output_package_name>/<subfolder>/<robot_name>_calibration.yaml
Example usage
rosrun ur_calibration calibration_correction _robot_ip:=192.168.56.101 _robot_name:=ur10_ideal _output_package_name:=ur_calibration
Parameters
-
"~subfolder_name" (default: "etc")
Given a package where the output should be saved, the calibration file will be saved in this subfolder relative to the package root.
-
"~robot_ip" (required)
IP address of the robot. The robot has to be reachable with this ip from the machine running this node.
-
"~robot_name" (required)
Arbitrary name that will be used for generating the calibration file's filename (see node description).
-
"~output_package_name" (required)
Package inside which the calibration data will be stored in. This package has to exist and has to be writable. Otherwise execution will fail and calibration data won't be saved.