Document how to apply calibration offsets about robot_calibration HOT 5 CLOSED

I changed the title and re-opened this, as I'd like to move some of my answer into the readme. This will remind me to do so sometime in the next week or so.

from robot_calibration.

Yes, they are added -- since that is how the offset is used in the model. I'll make the README a bit more specific.

from robot_calibration.

The "calibration" tags are not handled by RVIZ nor robot_state_publisher -- it really has to be handled at a lower level since commands/controls need to account for these offsets. They are typically read by the drivers and added to the raw joint value before publishing the joint_states or sending the joint values into the controllers.

The "rising" part is really a legacy of the PR2 (due to slack in belts, the rising vs falling calibration might be different) -- but it's the "official" tag in URDF.

from robot_calibration.

I see, thank you @mikeferguson this helped us a lot. Closing as answered.

from robot_calibration.

@mikeferguson although these values are "offsets", they should actually be added and not subtracted from joint values, right? This is also something that took some time for me to notice.

from robot_calibration.