From cc90e81f6680ed473b1f7536b38a310ebbeb8613 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 20 Dec 2024 10:02:37 +0100 Subject: [PATCH] Some minor rewordings and clarifications --- ur_robot_driver/doc/installation/robot_setup.rst | 9 ++++++--- ur_robot_driver/doc/usage/startup.rst | 16 +++++++++------- 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/ur_robot_driver/doc/installation/robot_setup.rst b/ur_robot_driver/doc/installation/robot_setup.rst index 83e35dff7..d77e86214 100644 --- a/ur_robot_driver/doc/installation/robot_setup.rst +++ b/ur_robot_driver/doc/installation/robot_setup.rst @@ -87,8 +87,11 @@ For this, there exists a helper script: $ ros2 launch ur_calibration calibration_correction.launch.py \ robot_ip:= target_filename:="${HOME}/my_robot_calibration.yaml" +.. note:: + The robot must be powered on (can be idle) before executing this script. + + 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. The robot must be -powered on (can be idle) before executing this script. +``target_filename`` provide an absolute path where the result will be saved to. -See :ref:`ur_robot_driver_startup` for instructions on using the extracted calibration information. \ No newline at end of file +See :ref:`ur_robot_driver_startup` for instructions on using the extracted calibration information. diff --git a/ur_robot_driver/doc/usage/startup.rst b/ur_robot_driver/doc/usage/startup.rst index 21033a4c0..f6c2cfb8e 100644 --- a/ur_robot_driver/doc/usage/startup.rst +++ b/ur_robot_driver/doc/usage/startup.rst @@ -78,21 +78,23 @@ Verify calibration info is being used correctly .. _verify_calibration: -If you passed a path to extracted calibration via the *kinematics_params_file* +If you passed a path to an extracted calibration via the *kinematics_params_file* parameter, ensure that the loaded calibration matches that of the robot by inspecting the console -output after launching ur_robot_driver. If the calibration does not match, you will see an error: +output after launching the ``ur_robot_driver``. If the calibration does not match, you will see an error: -.. code-block:: none +.. code-block:: - [ERROR] [1694437624.484381456] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. + [INFO] [1694437690.406932381] [URPositionHardwareInterface]: Calibration checksum: 'calib_xxxxxxxxxxxxxxxxxxx' + [ERROR] [1694437690.516957265] [URPositionHardwareInterface]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. -Alternatively, search for the term *checksum* in the console output after launching the driver, and -you should see: +With the correct calibration you should see: -.. code-block:: none +.. code-block:: [INFO] [1694437690.406932381] [URPositionHardwareInterface]: Calibration checksum: 'calib_xxxxxxxxxxxxxxxxxxx' + [INFO] [1694437690.516957265] [URPositionHardwareInterface]: Calibration checked successfully. +Alternatively, search for the term *checksum* in the console output after launching the driver. Verify that the printed checksum matches that on the final line of your extracted calibration file.