Package Summary
based on 'netft_example_controllers' Provides simple access to force-torque data provided by netft_ethercat_hardware plugin. Inludes compensation for gripper mass
- Author: BertWillaert
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/sandbox/ft_sensor_controller
Contents
Package Summary
The ft_sensor_controller shows how to access the force/torque data provided by netft_ethercat_hardware plugin. This controller transforms the measured x-,y- and z-force to the 'gripper_tool_frame' and shows how to compensate for the inertial forces from the gripper using the (filtered) gripper accelerations. Note that the controller assumes a constant horizontal pose of the gripper!
Usage
First compile the controller:
rosmake ft_sensor_controller
Next, be sure to run pr2_etherCAT with netft plugin. Use directions here. Now you should see ft_sensor_controller/ForceInterfacePlugin in the list when doing:
rosrun pr2_controller_manager pr2_controller_manager list-types
If that is the case, you can use the FT_controller.launch script which loads the parameters and spawns the controller:
roslaunch ft_sensor_controller FT_controller.launch
Try viewing controller output
rxplot /FT_reader/forces/Fx_sensor:Fx_sensor_comp /FT_reader/forces/Fy_sensor:Fy_sensor_comp /FT_reader/forces/Fz_sensor:Fz_sensor_comp