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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 geometry_msgs/msg/WrenchStamped.

The controller is a wrapper around ForceTorqueSensor semantic component (see controller_interface package).

Parameters

This controller uses the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.

The interfaces can be defined in two ways, using the sensor_name or the interface_names parameter: Those two parameters cannot be defined at the same time.

Full list of parameters:

frame_id (string)

Sensor’s frame_id in which values are published.

Default: “”

Constraints:

• parameter is not empty

sensor_name (string)

Name of the sensor used as prefix for interfaces if there are no individual interface names defined. If used, standard interface names for a 6D FTS will be used: <sensor_name>/force.x, ..., <sensor_name>/torque.z

Default: “”

interface_names

(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_name is defined. This enables the broadcaster to use force sensing cells with less than six measuring axes. An example definition is:

interface_names:
  force:
    x: example_name/example_interface

interface_names.force.x (string)

Name of the state interface with force values on ‘x’ axis.

Default: “”

interface_names.force.y (string)

Name of the state interface with force values on ‘y’ axis.

Default: “”

interface_names.force.z (string)

Name of the state interface with force values on ‘z’ axis.

Default: “”

interface_names.torque.x (string)

Name of the state interface with torque values around ‘x’ axis.

Default: “”

interface_names.torque.y (string)

Name of the state interface with torque values around ‘y’ axis.

Default: “”

interface_names.torque.z (string)

Name of the state interface with torque values around ‘z’ axis.

Default: “”

offset.force.x (double)

The offset of force values on ‘x’ axis.

Default: 0.0

offset.force.y (double)

The offset of force values on ‘y’ axis.

Default: 0.0

offset.force.z (double)

The offset of force values on ‘z’ axis.

Default: 0.0

offset.torque.x (double)

The offset of torque values around ‘x’ axis.

Default: 0.0

offset.torque.y (double)

The offset of torque values around ‘y’ axis.

Default: 0.0

offset.torque.z (double)

The offset of torque values around ‘z’ axis.

Default: 0.0

An example parameter file for this controller can be found in the test directory:

test_force_torque_sensor_broadcaster:
  ros__parameters:

    frame_id:  "fts_sensor_frame"