Allow updating robot gravity #1606
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: AdamPettinger <[email protected]>
Signed-off-by: AdamPettinger <[email protected]>
Signed-off-by: AdamPettinger <[email protected]>
This was referenced Dec 12, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
I have a UR20 mounted on another robot that can change its orientation enough to cause problems for the arm's mounting installation.
There has been some discussion on how to update the mounting orientation/gravity live (here and here), but these did not end up happening.
These changes expose the
set_gravityURScript functionality through the ROS driver, allowing a user to update the gravity vector of the robot during live operation via a service. This is obviously risky if you calculate the gravity vector incorrectly.There are corresponding changes in
I just rebased these commits on
maintoday, although we have been running these changes forked from thejazzybranch for a few months now.