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LucaGemma87LucaGemma87
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try to add force torque sensor controller [Status: failed]
1 parent 65a2c4a commit 5441e9e

23 files changed

Lines changed: 318 additions & 32 deletions

‎CMakeLists.txt‎

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@@ -11,9 +11,13 @@ find_package(catkin REQUIRED COMPONENTS
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controller_interface
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controller_manager
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hardware_interface
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force_torque_sensor_controller
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)
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catkin_package()
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS hardware_interface controller_interface)
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include_directories(include

‎config/force_torque_sensor_controller.ops‎

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#!/usr/bin/env deployer-gnulinux
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import("rtt_ros")
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import("rtt_rosnode")
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ros.import("ft_sensor_hw")
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## Give it a periodic activity
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setActivity("ft_sensor_hw", 1.0/1000.0, HighestPriority, ORO_SCHED_RT)
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## Configure the RttRosControlExample component
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ft_sensor_hw .init()
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## Start it
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#ForceTorqueSensorController.starting()

‎config/force_torque_sensor_controller.yaml‎

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force_torque_sensor_controller:
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type: force_torque_sensor_controller/ForceTorqueSensorController
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publish_rate: 1000
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‎config/hardware_interfaces.yaml‎

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# make the namespace match the name you use to instantiate the sensor in the xacro
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#my_sensor:
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#ForceTorqueSensorInterface:
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#type: hardware_interface/ForceTorqueSensorInterface
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#type: hardware_interface/ForceTorqueSensorHandle
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root: my_sensor_gamma_base
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tip: my_sensor_gamma_measure
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joints:
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- world_my_sensor_measure_joint
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‎config/joint_names.yaml‎

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joints:
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- world_my_sensor_measure_joint

‎config/joint_state_controller.yaml‎

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# Publish all joint states
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#my_sensor:
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 1000
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joints:
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- world_my_sensor_measure_joint

‎launch/control_sensor_simulation.launch‎

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<launch>
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<group ns="my_sensor">
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<rosparam command="load" file="$(find force_torque_sensor)/config/force_torque_sensor_controller.yaml"/>
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<!-- load hardware interface-->
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<rosparam command="load" file="$(find force_torque_sensor)/config/hardware_interfaces.yaml"/>
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<!-- load position controllers -->
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<!-- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/ft_sensor" args="
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joint_state_controller world_my_sensor_measure_joint"/>
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-->
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<node name="force_torque_sensor_controller" pkg="controller_manager" type="spawner" output="screen" ns="/my_sensor" args="force_torque_sensor_controller" />
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</group>
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</launch>

‎launch/cylinder_spawner.launch‎

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<launch>
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<!-- Spawn a robot into Gazebo -->
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<param name="cylinder_description" command="$(find xacro)/xacro.py $(find vito_description)/model/cylinder.urdf.xacro" />
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<param name="cylinder_description" command="$(find xacro)/xacro.py $(find force_torque_sensor)/robot/cylinder.urdf.xacro" />
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<node name="cylinder_spawner" pkg="gazebo_ros" type="spawn_model" args="-param cylinder_description -urdf -model cylinder -x -0.0 -y -0.0 -z 0.30 -R 0 -P 0 -Y 0" respawn="false" output="screen"/>
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</launch>

‎launch/display_simulation.launch‎

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<node name="robot_tf_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
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<!-- EXAMPLE FOR NANO17 -->
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model gamma" respawn="false" output="screen" />
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find force_torque_sensor)/worlds/simple_environment.world"/>
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<arg name="gui" value="true"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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</include>
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</include>
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model nano17" respawn="false" output="screen" />
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<node name="ft_sensor_rviz" pkg="rviz" type="rviz" respawn="false" args="-d $(find force_torque_sensor)/launch/my_config_rviz.rviz" output="screen"/>
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<node name="rqt_plot_view_force" pkg="rqt_plot" type="rqt_plot" args="-e /world_my_sensor/ft_sensor_topic/wrench/force/x:y:z" />
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<node name="rqt_plot_view_torque" pkg="rqt_plot" type="rqt_plot" args="-e /world_my_sensor/ft_sensor_topic/wrench/torque/x:y:z" />
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<node name="rqt_plot_view_force" pkg="rqt_plot" type="rqt_plot" args="-e /world_my_sensor/ft_sensor_topic/wrench/force" />
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<node name="rqt_plot_view_torque" pkg="rqt_plot" type="rqt_plot" args="-e /world_my_sensor/ft_sensor_topic/wrench/torque" />
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<group ns="my_sensor">
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<!--
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<group ns="my_sensor">
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<rosparam command="load" file="$(find force_torque_sensor)/config/force_torque_sensor_controller.yaml"/>
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-->
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<!-- load hardware interface-->
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<!--
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<rosparam command="load" file="$(find force_torque_sensor)/config/hardware_interfaces.yaml"/>
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<rosparam file="$(find force_torque_sensor)/config/joint_names.yaml" command="load"/>
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<!-- load position controllers -->
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<!-- <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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-->
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<!--load force torque sensor controllers -->
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<!--
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/ft_sensor" args="
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joint_state_controller world_my_sensor_measure_joint"/>
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-->
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</group>
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/my_sensor" args="force_torque_sensor_controller" />
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-->
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‎launch/ft_sensor_hw.launch.xml‎

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<launch>
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<!-- LAUNCH INTERFACE FOR FT SENSORS -->
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<arg name="ip" doc="Network address of the sensor. Mandatory"/>
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<arg name="name" doc="Name of the sensor for unique identification, it depends on your URDF implementation. Mandatory."/>
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<arg name="type" doc="Type of sensor, e.g. nano17, it depends on your URDF implementation, check which models this package supports. Mandatory."/>
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<!-- LAUNCH IMPLEMENTATION -->
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<group ns="$(arg name)">
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<node name="ft_sensor_hw" pkg="force_torque_sensor" type="ft_sensor_hw" respawn="true" output="screen">
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<param name="ip" value="$(arg ip)"/>
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<param name="name" value="$(arg name)" />
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<param name="type" value="$(arg type)" />
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</node>

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