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improve docs around usage of extracted calibration info #1214

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Dec 20, 2024
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improve docs around usage of extracted calibration info #1214

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23a32db
improve docs around calibration
cpsiff Dec 18, 2024
8437787
add note about looking for error in console
cpsiff Dec 19, 2024
cc90e81
Some minor rewordings and clarifications
urfeex Dec 20, 2024
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9 changes: 6 additions & 3 deletions ur_robot_driver/doc/installation/robot_setup.rst
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Expand Up @@ -69,11 +69,11 @@ Prepare the ROS PC
For using the driver make sure it is installed (either by the debian package or built from source
inside a colcon workspace).

.. _calibration_extraction:

Extract calibration information
-------------------------------

.. _calibration_extraction:

Each UR robot is calibrated inside the factory giving exact forward and inverse kinematics. To also
make use of this in ROS, you first have to extract the calibration information from the robot.

Expand All @@ -88,4 +88,7 @@ For this, there exists a helper script:
robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"

For the parameter ``robot_ip`` insert the IP address on which the ROS pc can reach the robot. As
``target_filename`` provide an absolute path where the result will be saved to.
``target_filename`` provide an absolute path where the result will be saved to. The robot must be
powered on (can be idle) before executing this script.

See :ref:`ur_robot_driver_startup` for instructions on using the extracted calibration information.
18 changes: 18 additions & 0 deletions ur_robot_driver/doc/usage/startup.rst
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Expand Up @@ -28,6 +28,7 @@ Allowed ``ur_type`` strings: ``ur3``, ``ur3e``, ``ur5``, ``ur5e``, ``ur10``, ``u
Other important arguments are:


* ``kinematics_params_file`` (default: *None*) - Path to the calibration file extracted from the robot, as described in :ref:`calibration_extraction`.
* ``use_mock_hardware`` (default: *false* ) - Use simple hardware emulator from ros2_control. Useful for testing launch files, descriptions, etc.
* ``headless_mode`` (default: *false*) - Start driver in :ref:`headless_mode`.
* ``launch_rviz`` (default: *true*) - Start RViz together with the driver.
Expand Down Expand Up @@ -72,6 +73,23 @@ Depending on the :ref:`robot control mode<operation_modes>` do the following:

.. _continuation_after_interruptions:

Verify calibration info is being used correctly
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-----------------------------------------------

.. _verify_calibration:

If you passed a path to extracted calibration via the *kinematics_params_file*
parameter, verify that the checksum of the loaded calibration matches that of your extracted
calibration. Search for the term *checksum* in the console output after launching the driver,
and you should see:

.. code-block:: console

$ [INFO] [1694437690.406932381] [URPositionHardwareInterface]: Calibration checksum: 'calib_xxxxxxxxxxxxxxxxxxx'

Verify that the printed checksum matches that on the final line of your extracted calibration file.


Continuation after interruptions
--------------------------------

Expand Down
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