How to use the calibration file extracted by ur_calibration

[yinguoxiangyi]

I am using galactic branch. Is it the right way of using calibration file by specify the arg kinematic_config with ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e use_fake_hardware:=false launch_rviz:=false initial_joint_controller:=joint_trajectory_controller robot_ip:=<robot_ip> kinematics_config:=${HOME}/my_robot_calibration.yaml

[yinguoxiangyi]

I find the easy way is to modify the following line to <path-to-my_robot_calibration.yaml> https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/8d0d0225921b3f82ec25aacbda86c67d663f6cbc/ur_bringup/launch/ur_control.launch.py#L107 Is this right? Do you know the official way?

[destogl]

This would be the official way. Or even better, you create your description package and recreate the structure of description package and add parameters for your scenario

[VinDp]

Since the issue is pretty old, I will close it. Also Galactic is EOL, but for Humble and on this issue could be useful for the question.