I have the SESV2 and I am using it with ROS2 on Ubuntu 24.04. Whenever I want to recalibrate the arm (reset the default position) I always need a Windows machine to run LSS Flow Arm and “teach”. Is there an alternative way to calibrate? I know I can “limp” and “hold” by publishing on /effort_controller/commands. Is there a way to do the calibration on Linux (or with ROS) as well?
I tried running Flow Arm on Wine, without success (too many issues to go through, not really worth it just for the calibration?)
Calibrating the arm is actually as simple as sending the right command(s) to each servo. If you’re advanced enough for ROS, take a look at the communication protocol here:
Calibrating involves reading the actual position you’d like to be the zero and using that to configure the origin offset:
You can use any serial program to send the commands via USB → Serial (ex. Python). Be sure to have the right baud rate, and you can proceed servo by servo. You can either set the servo limp or slowly rotate it using code to get to the position you want.
