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Force Torque Sensor Broadcaster
Broadcaster of messages from force/torque state interfaces of a robot or sensor.
The published message type is
The controller is a wrapper around
ForceTorqueSensor semantic component (see
The interfaces can be defined in two ways, using
Those two parameters can not be defined at the same time
- frame_id (mandatory)
Frame in which the output message will be published.
- sensor_name (optional)
Defines sensor name used as prefix for its interfaces. If used standard interface names for a 6D FTS will be used: <sensor_name>/force.x, …, <sensor_name>/torque.z.
- interface_names.[force|torque].[x|y|z] (optional)
Defines custom, per axis interface names. This is used if different prefixes, i.e., sensor name, or non-standard interface names are used. It is sufficient that only one
interface_nameis defined. This enables broadcaster use for force sensing cells with less then six measuring axes. Example definition is:
interface_names: force: x: example_name/example_interface