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Add a flange_pose_sensor to the ros2_control tag #110

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fmauch wants to merge 1 commit into UniversalRobots:rolling from fmauch:flange_pose_sensor

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fmauch commented Oct 23, 2023

Having the robot's flange pose as reported from the controller is a valuable thing for multiple reasons:

We can publish the wrench at the correct pose
We can easily verify correct tcp calibration
The flange pose is invariant to configured tools on the TP

This should get merged together with UniversalRobots/Universal_Robots_ROS2_Driver#856


          Add a flange_pose_sensor to the ros2_control tag

2cb096b

fmauch requested a review from RobertWilbrandt

October 23, 2023 07:18

fmauch mentioned this pull request

Remove ros2_control tag from package (and move it to ur_robot_driver) #114

Merged

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fmauch commented Dec 18, 2023

Closing this due to #114. The necessary changes should now go to UniversalRobots/Universal_Robots_ROS2_Driver#856 directly.

fmauch closed this

fmauch deleted the flange_pose_sensor branch

September 10, 2024 06:39

fmauch restored the flange_pose_sensor branch

September 10, 2024 06:39

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