Dear UR Community!
I would like to control our UR5 robot with the official ROS driver.
The setup and building steps are executed without any problems. I was able to succesfully communicate with the robot over the network. However, after the
ur_calibration step the robot pose shown in RViZ is totally different than the robot pose in reallity.
I will try to summarize everything as follows.
The robot pose in the reallity is shown below:
Dropbox - IMG_20211027_090903_resize2.jpg - Simplify your life
Dropbox - IMG_20211027_091814_resize2.jpg - Simplify your life
roslaunch ur_calibration calibration_correction.launch \ robot_ip:=192.168.1.81 \ target_filename:="$(rospack find example_organization_ur_launch)/etc/ex-ur5-1_calibration.yaml"
I get the following yaml file:
kinematics: shoulder: x: 0 y: 0 z: 0.08948760745641905 roll: -0 pitch: 0 yaw: 5.724267271354014e-05 upper_arm: x: 4.767387894761116e-05 y: 0 z: 0 roll: 1.569913581252249 pitch: 0 yaw: 2.121784526601501e-05 forearm: x: -0.4254051262210206 y: 0 z: 0 roll: 3.141571256638476 pitch: 3.139609714587363 yaw: 9.181814845231772e-05 wrist_1: x: -0.392460380822819 y: -0.002312531082237207 z: 0.1097805113913582 roll: 0.02106192704769751 pitch: -0.001508302033929348 yaw: 3.141509032753284 wrist_2: x: 7.021751572921595e-05 y: -0.09475180859812876 z: -0.0003085072123167084 roll: 1.574052265934258 pitch: 0 yaw: -3.378771318114996e-05 wrist_3: x: -4.120584958757715e-05 y: 0.0824868794107365 z: -0.0002106126115580783 roll: 1.568243046135182 pitch: 3.141592653589793 yaw: -3.141583455241135 hash: calib_2261225183801150179
Then, I bringup the ur5 with it’s launch file and the aforementioned kinematics yaml file. The RVIZ shows a totally different robot pose, however the joint angles are the same as on the TP. See the image below. (I’m a new user, and i cannot post more links)
I even checked the tool pose with a transform listener, and i got again different values than in the TP. See the image below.
(I’m a new user, and i cannot post more links)
Can you give hints where can be the problem?
Thank you in advance.
See the image for the second step:
See the image for the third step: