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Backport: Change driver constructor and change calibration check (#282) #302

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merged 2 commits into from Feb 23, 2022
Merged

Backport: Change driver constructor and change calibration check (#282) #302

merged 2 commits into from Feb 23, 2022

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destogl
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@destogl destogl commented Feb 23, 2022 •
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@destogl destogl requested a review from fmauch February 23, 2022 11:26
@destogl destogl changed the base branch from main to foxy February 23, 2022 11:26
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fmauch commented Feb 23, 2022 •
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I just tested this locally and it gives a an error

The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details.

It looks like the calib_checksum gets extracted with quotes added:

My rolling main says

[ur_ros2_control_node-1] [INFO] [1645636525.640604365] [URPositionHardwareInterface]: Calibration checksum: 'calib_12788084448423163542'.

this pr version says:

[ros2_control_node-1] [INFO] [1645636951.880480611] [URPositionHardwareInterface]: Calibration checksum: '"calib_12788084448423163542"'.

The description contains

      <param name="kinematics/hash">&quot;calib_12788084448423163542&quot;</param>

@fmauch fmauch force-pushed the foxy-backport-pr282 branch 2 times, most recently from b02dfd6 to 735bf07 Compare February 23, 2022 17:45
fmauch
fmauch reviewed Feb 23, 2022
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lgtm with the small fix I proposed

ur_description/urdf/ur.ros2_control.xacro Show resolved Hide resolved
@fmauch fmauch merged commit 0c96beb into foxy Feb 23, 2022
@fmauch fmauch deleted the foxy-backport-pr282 branch February 23, 2022 18:52
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@fmauch fmauch fmauch approved these changes

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@destogl @fmauch @livanov93