I am having some trouble controlling the xArm 5 in ROS using the robot mode 0.
Moving in joint space is no problem at all. But moving relative to the tool in Cartesian space, using the service /xarm/move_line_tool, returns ret: 9 and C21.
Which is a Kinematic Error in the xArm Controller saying: “Please long press the “align the hand” or long press the “zero position” button to level the end flange of the robot before moving”
Is there a way to correctly align the hand using a ROS command?
Thanks in advance!