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Fix calibration of prismatic joint #2566

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merged 3 commits into from
Aug 12, 2017
Merged

Fix calibration of prismatic joint #2566

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13024cd
Resolve overload before prismatic calib
pazeshun Aug 12, 2017
0be67e2
Change mode directly after detecting limit
pazeshun Aug 12, 2017
ee8cf7f
Update calib_required_joint_controller.py
wkentaro Aug 12, 2017
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8 changes: 7 additions & 1 deletion jsk_arc2017_baxter/src/jsk_arc2017_baxter/calib_required_joint_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,12 @@ def __calib(self):
# Change to wheel mode
self.__set_angle_limits(0, 0)
self.set_torque_limit(self.calib_torque_limit)
self.__set_speed_wheel(0.0)
# release torque by disabling it
self.set_torque_enable(False)
rospy.sleep(0.2)
self.set_torque_enable(True) # re-enable it
rospy.sleep(0.2)
if self.flipped:
self.__set_speed_wheel(self.calib_speed)
else:
Expand All @@ -74,13 +80,13 @@ def __calib(self):
pass
rate.sleep()
self.__set_speed_wheel(0.0)
self.set_torque_enable(False)
if self.is_multiturn:
# Change to multiturn mode
self.__set_angle_limits(4095, 4095)
else:
# Change to previous mode
self.__set_angle_limits(prev_limits['min'], prev_limits['max'])
self.set_torque_enable(False)
self.set_speed(self.joint_speed)
if self.torque_limit is not None:
self.set_torque_limit(self.torque_limit)
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