UR5 zero position and ROS zero position different
To Whom It May Concern,
After updating partition sizes on the hard drive used by my Lab's Clearpath Husky equipped with a Universal Robots UR5, ROS continues to communicates accurately with the arm. However, the ROS zero position for the ur5_arm_shoulder_pan_joint is 90 degree, pi/4, different on the physical arm. The tool0_controller, created by ur_modern_driver, shows the accurate position of the end effector. However, the physical links themselves are off. As a result, when I send the UR5 to specified positions, the arm ends up in the wrong position because the ur5_arm_shoulder_pan_joint is off 90 degrees. I've looked into the husky_ur5_moveit_config, https://github.com/husky/husky/tree/i... , and ur_modern_driver, https://github.com/ThomasTimm/ur_mode... , but haven't found anything that could cause this issue.
The only solution I've thought of yet is physically bolting the arm 90 degrees different from its current position; so that, ROS and the UR5 arm agree on their position. However, this isn't ideal.
Thank you for taking the time to read this post, as well as any help you are able to give. Have a great week. God bless.
Very Respectfully, CMobley7
