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50 lines
1.9 KiB
Markdown
50 lines
1.9 KiB
Markdown
# ur_calibration
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Package for extracting the factory calibration from a UR robot and changing it to be used by `ur_description` to gain a correct URDF model.
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Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also
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make use of this in ROS, you first have to extract the calibration information from the robot.
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Though this step is not necessary, to control the robot using this driver, it is highly recommended
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to do so, as end effector positions might be off in the magnitude of centimeters.
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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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#### Helper script
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In the launch folder of the ur_calibration package is a helper script:
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$ roslaunch ur_calibration calibration_correction.launch \
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robot_ip:=<robot_ip> \
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robot_name:=<robot_name> \
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output_package_name:=ur_calibration \
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subfolder_name:=etc
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For the parameter **<robot_ip>** insert the ip on which the ROS pc can reach the robot. The
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**<robot_name>** is an arbitrary name you can give to the robot. It is recommended, to choose a unique
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name that can be easily matched to the physical robot.
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As soon as you see the output
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[ INFO] [1560953586.352160902]: Calibration correction done
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you can exit the roslaunch by pressing `CTRL+C`.
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#### Prerequisites for binary installation
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In the example above, we use the **ur_calibration** package from this repository. This won't work,
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if you use a binary installation of this driver. In that case please create a new ROS package
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by going to your catkin_workspace's src folder and calling:
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catkin_create_pkg my_calibrations
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It is recommended to adapt the new package's *package.xml* with a meaningful description.
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