Usage

To use the calibration correction this package provides a launchfile that extracts calibration information directly from a robot, calculates the URDF correction and saves it into a .yaml file:

$ ros2 launch ur_calibration calibration_correction.launch.py \
robot_ip:=<robot_ip> target_filename:="${HOME}/my_robot_calibration.yaml"

For the parameter robot_ip insert the IP address on which the ROS pc can reach the robot. As target_filename provide an absolute path where the result will be saved to.

With that, you can launch your specific robot with the correct calibration using

$ ros2 launch ur_robot_driver ur_control.launch.py \
  ur_type:=ur5e \
  robot_ip:=192.168.56.101 \
  kinematics_params_file:="${HOME}/my_robot_calibration.yaml"

Adapt the robot model matching to your robot.

Ideally, you would create a package for your custom workcell, as explained in the custom workcell tutorial.