Comments (2)
adnanmunawar
commented on July 23, 2024
Hi Jack, is this still an issue? We enable the gravity compensation for the real MTM in the mtm_device_crtk at this method. Essentially we publish to a topic called /<MTM_TYPE>/use_gravity_compensation.
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JackHaoyingZhou
commented on July 23, 2024
Hi Adnan, I think the problem is resolved. My original question is actually for PSM gravity compensation (PSM will stay still even the "mono" foot pedal button is not pressed). Regarding to the MTM side, the gravity compensation can be activated through dVRK-ROS and can take the topic if required. For PSM side, since the gravity has been sat to 0, I would assume it is good to go.
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Related Issues (20)
- TypeError: 'tuple' object does not support item assignment in joint_errors_model.py
- project_needle_pts.py script not working and throwing error HOT 3
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- Camera frames do not correspond to the docs HOT 8
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- Joint errors model HOT 2
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- Incorrect joint angles being set HOT 17
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