calibrated ur again

src/Universal_Robots_ROS_Driver/ur_robot_driver/launch/ur3e_bringup.launch

@@ -24,6 +24,7 @@
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
   <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
   <arg name="z_height" default="0.0" />
+  <arg name="gripper" default="false" />
 
   <include file="$(find ur_robot_driver)/launch/ur_common.launch" pass_all_args="true"/>
 </launch>

src/Universal_Robots_ROS_Driver/ur_robot_driver/launch/ur_common.launch

@@ -24,11 +24,13 @@
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
   <arg name="ur_hardware_interface_node_required" default="true" doc="Shut down ros environment if ur_hardware_interface-node dies."/>
   <arg name="z_height" default="0.0" />
+  <arg name="gripper" default="false" />
 
   <!-- robot model -->
   <include file="$(arg robot_description_file)">
     <arg name="kinematics_params" value="$(arg kinematics_config)"/>
     <arg name="z_height" value="$(arg z_height)" />
+    <arg name="gripper" value="$(arg gripper)" />
   </include>
 
   <!-- Convert joint states to /tf tranforms -->

src/fmauch_universal_robot/ur_description/launch/load_ur.launch

@@ -11,6 +11,7 @@
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
   <arg name="z_height" default="0.0" />
+  <arg name="gripper" default="false" />
 
   <!-- Load the top-level (ie: stand-alone and complete) xacro for the UR
        variant defined by the set of yaml parameter files (so to load a UR5
@@ -32,6 +33,7 @@
   <param name="robot_description" command="$(find xacro)/xacro '$(find ur_description)/urdf/ur.xacro'
     joint_limit_params:=$(arg joint_limit_params)
     z_height:=$(arg z_height)
+    gripper:=$(arg gripper)
     kinematics_params:=$(arg kinematics_params)
     physical_params:=$(arg physical_params)
     visual_params:=$(arg visual_params)

src/fmauch_universal_robot/ur_description/launch/load_ur3e.launch

@@ -11,6 +11,7 @@
   <arg name="safety_pos_margin" default="0.15" doc="The lower/upper limits in the safety controller" />
   <arg name="safety_k_position" default="20" doc="Used to set k position in the safety controller" />
   <arg name="z_height" default="0.0" />
+  <arg name="gripper" default="false" />
 
   <!-- use common launch file and pass all arguments to it -->
   <include file="$(find ur_description)/launch/load_ur.launch" pass_all_args="true"/>

src/fmauch_universal_robot/ur_description/urdf/ur.xacro

@@ -20,11 +20,13 @@
    <xacro:arg name="safety_k_position" default="20"/>
 
    <xacro:arg name="z_height" default="0.0" />
+   <xacro:arg name="gripper" default="false" />
 
    <!-- arm -->
    <xacro:ur_robot
      prefix=""
      z_height="$(arg z_height)"
+     gripper="$(arg gripper)"
      joint_limits_parameters_file="$(arg joint_limit_params)"
      kinematics_parameters_file="$(arg kinematics_params)"
      physical_parameters_file="$(arg physical_params)"

src/ur3e2_calib.yaml

@@ -2,43 +2,43 @@ kinematics:
   shoulder:
     x: 0
     y: 0
-    z: 0.1518834796358208
+    z: 0.1519010735629734
     roll: -0
     pitch: 0
-    yaw: -5.089679179504093e-08
+    yaw: 4.634905607502505e-08
   upper_arm:
-    x: -1.960738422453128e-05
+    x: -0.0001502218476330159
     y: 0
     z: 0
-    roll: 1.571746540889523
+    roll: 1.571525622556669
     pitch: 0
-    yaw: 2.816051609094776e-06
+    yaw: 2.434118529520919e-06
   forearm:
-    x: -0.2434801405151212
+    x: -0.2436671404664339
     y: 0
     z: 0
-    roll: 3.138568480223974
-    pitch: -3.141354071468677
-    yaw: 3.141586152811768
+    roll: 3.137813499486348
+    pitch: 3.140117104380051
+    yaw: 3.141587839269064
   wrist_1:
-    x: -0.2130509371017544
-    y: -0.0002349143671027095
-    z: 0.1310397177533013
-    roll: 0.001792693997500487
-    pitch: 0.002324108257830582
-    yaw: -1.224040137876464e-06
+    x: -0.2132179589483491
+    y: -0.0001550830051109289
+    z: 0.1313263639404954
+    roll: 0.001180897181410599
+    pitch: 0.0006496499988362674
+    yaw: 2.597372229028298e-06
   wrist_2:
-    x: 3.786408004181329e-05
-    y: -0.08535743969902289
-    z: -1.364168692573995e-06
-    roll: 1.570812308631949
+    x: 1.59344894692773e-05
+    y: -0.08534391586236098
+    z: -8.859064304126133e-05
+    roll: 1.571834369288334
     pitch: 0
-    yaw: -1.898784667692111e-06
+    yaw: 7.505352157845812e-06
   wrist_3:
-    x: -5.499157599434723e-05
-    y: 0.09208044981195734
-    z: -0.0001436118037983424
-    roll: 1.569236694021072
+    x: -0.0001950144461448812
+    y: 0.09202553898945699
+    z: -0.000227508576828372
+    roll: 1.568324098804467
     pitch: 3.141592653589793
-    yaw: 3.141592173103251
-  hash: calib_6276884284178043864
+    yaw: 3.141592161509155
+  hash: calib_586489923172046521

src/ur3e2_calibold.yaml

@@ -0,0 +1,44 @@
+kinematics:
+  shoulder:
+    x: 0
+    y: 0
+    z: 0.1518834796358208
+    roll: -0
+    pitch: 0
+    yaw: -5.089679179504093e-08
+  upper_arm:
+    x: -1.960738422453128e-05
+    y: 0
+    z: 0
+    roll: 1.571746540889523
+    pitch: 0
+    yaw: 2.816051609094776e-06
+  forearm:
+    x: -0.2434801405151212
+    y: 0
+    z: 0
+    roll: 3.138568480223974
+    pitch: -3.141354071468677
+    yaw: 3.141586152811768
+  wrist_1:
+    x: -0.2130509371017544
+    y: -0.0002349143671027095
+    z: 0.1310397177533013
+    roll: 0.001792693997500487
+    pitch: 0.002324108257830582
+    yaw: -1.224040137876464e-06
+  wrist_2:
+    x: 3.786408004181329e-05
+    y: -0.08535743969902289
+    z: -1.364168692573995e-06
+    roll: 1.570812308631949
+    pitch: 0
+    yaw: -1.898784667692111e-06
+  wrist_3:
+    x: -5.499157599434723e-05
+    y: 0.09208044981195734
+    z: -0.0001436118037983424
+    roll: 1.569236694021072
+    pitch: 3.141592653589793
+    yaw: 3.141592173103251
+  hash: calib_6276884284178043864

src/ur3e_setup/README.md

@@ -12,7 +12,7 @@ source devel/setup.bash # Once per terminal instance
 ### Launch Sequence
 ```bash
 # Initiate UR driver communication with real robot
-roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=192.168.77.21 kinematics_config:=/home/user/workspace/src/ur3e2_calib.yaml z_height:=0.8
+roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=192.168.77.22 kinematics_config:=/home/user/workspace/src/ur3e2_calib.yaml z_height:=0.8
 
 # Start MoveIt for UR3e
 roslaunch ur3e_moveit_config ur3e_moveit_planning_execution.launch