Problems setting and verifying TCP for UR10e robots

asked 2020-01-26 16:17:17 -0600

Hi, I am wondering if anyone else is having problems setting the TCP (tool center point) of a UR10e robot and then verifying it with "rosrun tf tf_echo /tool0 /tool0_controller"

I first send a command via the topic /ur_driver/URScript "set_tcp(p[0,0,0.57,0,0,0])" which should change the tcp z coordinate to 57cm, but then when I query it via the above rosrun command, I get 53cm. This was working fine on UR10.

The ros driver for UR10e that I am using is https://github.com/plusone-robotics/u...

Sorry if this is not the right forum to ask for help! I am very new to this.

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Comments

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The ros driver for UR10e that I am using is https://github.com/plusone-robotics/u...

Don't.

All of the ur_modern_driver (and it's forks) have been deprecated.

See Deprecation of ur_modern_driver on ROS Discourse.

gvdhoorn gravatar imagegvdhoorn ( 2020-01-27 02:12:10 -0600 )edit