flir_ptu Rotation Error

[RoboEvangelist]

Hi,

There is a discrepancy between the rviz/urdf model and current sensor.
If I tell the sensor to move to 0.6 position, the physical sensor moves in the correct direction, but the rviz model moves in the opposity direction. I have issues only with the pan...tilt is fine.

I have a PTU46-70.

Where do I correct this issue, in the URDF, or in the driver.h/cpp?

By the way, that is the default behaviour without me modifying anything on the driver side

Thanks

[mikepurvis]

Hmm. We've already reversed the pan joint once before (390d6ac), however I'm wondering if 598c46f messed things up. The conversation on the commit indicates that it wasn't checked against the hardware.

If you're willing to fix the URDF, and verify that it does the right thing with your hardware, I will merge a PR.

[RoboEvangelist]

ok, let me try to fix it

[RoboEvangelist]

These are the values that work for me:

<joint name="${name}_pan" type="revolute">
  <parent link="${name}_pan_link" />
  <origin xyz="0 0 0.066" rpy="-1.5708 0 0" />
  <child link="${name}_tilt_link" />
  <axis xyz="0 -1 0" rpy="3.14159 0 0" />      <------------------------ These values
  <limit lower="${pan_range}" upper="${-pan_range}"
         effort="${joint_effort}" velocity="${pan_velocity}" />
</joint>

[jeff-o]

RoboEvangelist's fix worked for me.

[mikepurvis]

Committed in 284151a, please verify.