xArm 5 move_line_tool not working

[JustPtrck]

Hi all,

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!

[Minna]

Dear friend,

Sorry, currently there is no such API.
To level the end flange of the robot, you can get the joint angle via get_servo_angle, and then set joint4 according to the below formula.

joint4 = -( joint2+joint3) unit:degree

Best regards,