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40 lines
1.3 KiB
Markdown
40 lines
1.3 KiB
Markdown
# ur_calibration
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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
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## Nodes
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### calibration_correction
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This node extracts calibration information directly from a robot, calculates the URDF correction and
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saves it into a yaml file.
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With the parameters explained below calibration will be saved inside
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```bash
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<output_package_name>/<subfolder>/<robot_name>_calibration.yaml
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```
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#### Example usage
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```bash
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rosrun ur_calibration calibration_correction _robot_ip:=192.168.56.101 _robot_name:=ur10_ideal _output_package_name:=ur_calibration
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```
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#### Parameters
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* **"~subfolder_name"** (default: "etc")
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Given a package where the output should be saved, the calibration file will be saved in this
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subfolder relative to the package root.
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* **"~robot_ip"** (required)
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IP address of the robot. The robot has to be reachable with this ip from the machine running
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this node.
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* **"~robot_name"** (required)
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Arbitrary name that will be used for generating the calibration file's filename (see node
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description).
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* **"~output_package_name"** (required)
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Package inside which the calibration data will be stored in. This package has to exist and has
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to be writable. Otherwise execution will fail and calibration data won't be saved.
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