Inquire for ft_calib_params

[MingshanHe]

I have used UR5 to force calibration, this robot has not any IMU model but I have used Joint Velocity and Jaccobi Matrix to calculate the Acceleration for End tool. But when I run it, I have get the wrong mass and ft_calib_params like this.
ft_calib_params 0
0
0
0
-13.0536
6.89857
18.0483
-1.13673
-1.76636
6.99891

Would you like to help me to solve this? Thanks, and Best regards

[diogoalmeida]

Hi, My recommendation is to publish a fake IMU signal with the expected gravity measurement, in the robot base frame. That should allow the algorithm to work, with little effect on the accuracy of your results (assuming you have the robot laying on a flat horizontal table). Best, Diogo

…

________________________________ From: Mingshan-Beal ***@***.***> Sent: Saturday, May 29, 2021 4:40:15 AM To: kth-ros-pkg/force_torque_tools ***@***.***> Cc: Subscribed ***@***.***> Subject: [kth-ros-pkg/force_torque_tools] Inquire for ft_calib_params (#19) I have used UR5 to force calibration, this robot has not any IMU model but I have used Joint Velocity and Jaccobi Matrix to calculate the Acceleration for End tool. But when I run it, I have get the wrong mass and ft_calib_params like this. ft_calib_params 0 0 0 0 -13.0536 6.89857 18.0483 -1.13673 -1.76636 6.99891 Would you like to help me to solve this? Thanks, and Best regards — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<#19>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AALOBTKRZUVXZIM3EKQ6NXDTQBOZ7ANCNFSM45X3HNKQ>.

[MingshanHe]

Thanks, and I will try.

[lxk-221]

this is a simple implement of fake imu signal by python
simply create scripts/fake_imu_publisher.py under force_torque_sensor_calib package.

#!/usr/bin/env python  
import rospy  
from sensor_msgs.msg import Imu  
from geometry_msgs.msg import Vector3  
  
def imu_publisher():  
    # init
    rospy.init_node('imu_publisher_node', anonymous=True)  
    imu_pub = rospy.Publisher('imu_data', Imu, queue_size=10)  
      
    # fake imu, simpliy imu
    gravity = Vector3(0, 0, -9.81)  
      
    rate = rospy.Rate(10) # 10Hz  
    while not rospy.is_shutdown():  
        # create imu message  
        imu_msg = Imu()  
        imu_msg.header.stamp = rospy.Time.now()  
        imu_msg.header.frame_id = "world"  
        
        imu_msg.orientation.w = 1  
        imu_msg.orientation_covariance = [1, 0, 0, 0, 1, 0, 0, 0, 1]

        imu_msg.angular_velocity.x = 0.0  
        imu_msg.angular_velocity.y = 0.0  
        imu_msg.angular_velocity.z = 0.0  
        imu_msg.angular_velocity_covariance = [1, 0, 0, 0, 1, 0, 0, 0, 1]

        imu_msg.linear_acceleration = gravity  
        imu_msg.linear_acceleration_covariance = [1, 0, 0, 0, 1, 0, 0, 0, 1]
          
        # publish 
        imu_pub.publish(imu_msg)  
          
        rate.sleep()  
  
if __name__ == '__main__':  
    try:  
        imu_publisher()  
    except rospy.ROSInterruptException:  
        pass

then add it to CMakeLists.txt

catkin_package(
  DEPENDS eigen
  CATKIN_DEPENDS rospy sensor_msgs  
  INCLUDE_DIRS include
  LIBRARIES
)

install(PROGRAMS  
  scripts/fake_imu_publisher.py  
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}  
)  

and add run depend package.xml

  <run_depend>rospy</run_depend>