[ROBOT HOME Service call]

[zkeyg]

Feature summary

Hi team! I am looking at the documents of UR20 and am wondering if there is a service call that can revert the robot back to its home/safe-home position. I know on teach pendant there is a safe home feature in which I believe user can press down the 3PE button and make the robot back to HOME/zero position

Related issues

Links to related issues internal or external to this repo

Tasks

To complete this issue involves

• Implement the feature
• Make documentation
• Make Unit test
• Make example
• Test on real hardware

[zkeyg]

Much appreciated! Thank you!

[urfeex]

Hi, there is no such thing. As you have already written, on the TP that would require holding down an enable button through the process as the process of going to a "home" position might not be collision free.

In ROS this can be achieved when using MoveIt, though. In MoveIt, you can define named poses that you can then use to command targets directly. In our example moveit configuration there are three poses predefined. Those can be accessed e.g. through MoveIt's RViz interface or also programmatically through its move_group interface. When using this, a collision-free path from the current pose to the predefined pose will be computed on the fly.

[zkeyg]

@urfeex Appreciate the answer!