gen_kinematics_param.py does not work

[lkm1321]

Hi @vimior,

We are trying to run the gen_kinematics_params.py because we're seeing discrepencies between RViz2 RobotModel and actual robot. The joints seem off by around 0.1 radians in various places.

https://github.com/xArm-Developer/xarm_ros2/blob/humble/xarm_description/config/kinematics/gen_kinematics_params.py

The script below appears to connect to the robot to get the correct RPY offset (from register 0x08), but when we run it it does not do anything. It seems to get stuck in the recv call, because the controller box does not respond after the send call. We are on firmware version 1.12.1. I also cannot find anything about register 0x08 from the TCP ModBus documentation. Can you provide more information about this?

Thanks!