Is there any method to reset ftsensor in external control?

[Ryoga723]

Hello,

I would like to reset ftsensor without disconnection such as pressing footer stop botton in teach pendant. Previously, I knew rosservice which is named zero_ftsensor is server to reset ftsensor, and I try it now.

But for some reason I cannot reset ftsensor by call the service. Concretely, I implement rosservice call /ur_hardware_interface/zero_ftsensor in terminal when I control robots by external pragram. And I monitored the ftsensor data in rqt plot. But the value is not reseted.

This is result in terminal rosservice call /ur_hardware_interface/zero_ftsensor return below. success: True message: ''"

So just by looking, I can reset the ftsensor value. In the case I client service in program, the result is the same.

I have no idea to reset ftsensor with controlling robots by external program.

In the first place, can I reset ftsensor by rosservice with controlling robots?

Please teach me any method if you know anything. Thank you for your helping.