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Mapping between PWM counts and joint angle in ros_canopen

asked 2016-11-10 20:36:35 -0500

Craig gravatar image

I'm using ros_canopen, which is an awsome package, to communicate with my robot.

By far, I modified the below yaml parameters to deal with the mapping between PWM counts and jont angle.

  pos_to_device: "rint(rad2deg(pos)*1000)"
  pos_from_device: "deg2rad(obj6064)/1000" 
  vel_to_device: "rint(rad2deg(vel)*1000)" 
  vel_from_device: "deg2rad(obj606C)/1000"

Is there a way to use transmission ratio in URDF and define only a parameter of encoder resolution in the above yaml?

Thank you in advance.

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answered 2016-11-11 06:42:39 -0500

Mathias Lüdtke gravatar image

No, this is not implemented (yet?). ( )

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Asked: 2016-11-10 20:36:35 -0500

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Last updated: Nov 11 '16