About zero_ftsensor() and remote control mode

[ksjz]

Ubuntu18.04 + melodic

I found that the value of the six-dimensional force sensor of ur10e will become larger and larger, and the value needs to be constantly zeroing by using zero_ftsensor() when using it. I'm a fresher in ros , I don't know how to program in remote conteol mode even i see the doc(https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/ROS_INTERFACE.md#zero_ftsensor-std_srvstrigger). Is there an example of zeroingthe sensor in the remote control mode? thank you very much!

[urrsk]

@ksjz Thanks for your question To enter the Remote Control mode of the robot, please see the manual. http://help.universal-robots.com/SW_5_11/UR5e/Content/from-tex/software_manual/g5_sections/hamburger_menu_g5/settings_en.htm?Highlight=Remote%20control

@ksjz Though, It seems that you have found a case that is not yet well supported in the driver. If the e-seris robot is in 'remote control' mode, you can call the service at you referar to. But it seems we lack in supporting zeroing the FT sensor if you are using the robot with the external control URCap.

A workaround, to be able to zero the sensor in 'Normal mode' using the external control URCap, could be to make an extra UR thread calling the zero_ftsensor() URScript function when e.g. an digital output have changed

[ksjz]

@ksjz Thanks for your question To enter the Remote Control mode of the robot, please see the manual. http://help.universal-robots.com/SW_5_11/UR5e/Content/from-tex/software_manual/g5_sections/hamburger_menu_g5/settings_en.htm?Highlight=Remote%20control

@ksjz Though, It seems that you have found a case that is not yet well supported in the driver. If the e-seris robot is in 'remote control' mode, you can call the service at you referar to. But it seems we lack in supporting zeroing the FT sensor if you are using the robot with the external control URCap.

A workaround, to be able to zero the sensor in 'Normal mode' using the external control URCap, could be to make an extra UR thread calling the zero_ftsensor() URScript function when e.g. an digital output have changed

thank you!