Start Robot Without Arm Calibration (ros ticket #5183)

[ahendrix]

One annoyance we experienced here was that we drove the robot into a tight corner and shut it off. We couldn't start it up again because it didn't have enough space for arm calibration. As a result we had to physically move the robot. It would be great if there was a way to start the robot without doing arm calibration to get out of situations like this.

trac data:

• Owner: pratkanis
• Reporter: pratkanis
• Reported at: Fri Feb 10 16:05:35 2012
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5183

[ahendrix]

[wim] I believe this feature already exists, admittedly, in a somehow obscure form. When you start up the robot with the breakers for the arms disabled (power to those breakers completely off, not just in standby), the bringup calibration routine will skip the arms, and only calibrate the base, head and spine. You can then drive the base around using the joystick. This at least used to be the case. If this approach works for you, could you close the ticket?