Allow updating robot gravity #415
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Signed-off-by: AdamPettinger <[email protected]>
Signed-off-by: AdamPettinger <[email protected]>
Signed-off-by: AdamPettinger <[email protected]>
Signed-off-by: AdamPettinger <[email protected]>
Signed-off-by: AdamPettinger <[email protected]>
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I have a UR20 mounted on another robot that can change its orientation enough to cause problems for the arm's mounting installation.
These changes expose the
set_gravityURScript functionality through theClient Library, allowing a user to update the gravity vector of the robot during live operation. There is a corresponding PR onROS2_Driverthat further exposes this as a ROS service. This is obviously risky if you calculate the gravity vector incorrectly.