modified: CMakeLists.txt

	modified:   README.md
	deleted:    config/force_torque_sensor_control.yaml
	modified:   launch/display_simulation.launch
	modified:   model/ft_sensor.gazebo.xacro
	modified:   model/ft_sensor.urdf.xacro
	config/
	launch/control_sensor_simulation.launch
	model/ft_sensor.trasmission.xacro

Author: LucaGemma87

CMakeLists.txt

@@ -8,6 +8,9 @@ find_package(catkin REQUIRED COMPONENTS
   message_generation 
   std_msgs
   geometry_msgs 
+  controller_interface
+  controller_manager
+  hardware_interface
 )
 
 catkin_package()
@@ -20,6 +23,7 @@ include_directories(include
 
 add_library(FTSensor
   src/FTSensor.cpp
+  
   )
 
 add_executable(ft_sensor_hw 

README.md

@@ -6,4 +6,4 @@ A catkin package to read measurements from any ATI FT sensor via XML
 ToDO:
  - [ ] Use force-torque-sensor controller from ros_control
  - [x] Create an URDF of the sensor to visualize the forces and frames
- - [ ] Create plugin to be used in simulation
+ - [x] Create plugin to be used in simulation

config/force_torque_sensor_control.yaml

@@ -25,17 +25,20 @@
   <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" />
 
 
-    <!-- Load joint controller configurations from YAML file to parameter server -->
-<!--   <rosparam file="$(find force_torque_sensor)/config/force_torque_sensor_control.yaml" command="load"/> -->
-   <rosparam command="load" file="$(find force_torque_sensor)/config/force_torque_sensor_control.yaml" />
-
+<group ns="my_sensor">
+   <rosparam command="load" file="$(find force_torque_sensor)/config/force_torque_sensor_controller.yaml"/> 
+   <!-- load hardware interface-->
+    <rosparam command="load" file="$(find force_torque_sensor)/config/hardware_interfaces.yaml"/> 
+    <rosparam file="$(find force_torque_sensor)/config/joint_names.yaml" command="load"/> 
   <!-- load position controllers -->
 <!--   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" ns="/ft_sensor" args="
     joint_state_controller world_my_sensor_measure_joint"/>
  -->
+   </group> 
+   <node name="controller_spawner" pkg="controller_manager" type="spawner"  respawn="false" output="screen" ns="/my_sensor" args="force_torque_sensor_controller" /> 
 
-    <node name="force_torque_sensor_controller" pkg="controller_manager" type="spawner" output="screen" args="force_torque_sensor_controller" /> 
+ 
 
 
 

launch/display_simulation.launch

@@ -2,7 +2,12 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
 	<xacro:macro name="ft_sensor_gazebo" params="parent name type">
-
+  
+  <gazebo> 
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> 
+      <robotNamespace>/${name}/</robotNamespace> 
+    </plugin> 
+  </gazebo> 
 
     <gazebo reference="${name}_${type}_base">
 			<gravity>true</gravity>

model/ft_sensor.gazebo.xacro

@@ -4,6 +4,7 @@
 	<!-- Include all available models -->
 	<xacro:include filename="$(find force_torque_sensor)/model/models.urdf.xacro"/>
     <xacro:include filename="$(find force_torque_sensor)/model/ft_sensor.gazebo.xacro"/>
+    <xacro:include filename="$(find force_torque_sensor)/model/ft_sensor.trasmission.xacro"/>
 
 	<!-- Base model for all sensor to have common frame names -->
 	<xacro:macro name="ft_sensor" params="parent name type *origin">
@@ -36,6 +37,9 @@
 
         <xacro:ft_sensor_gazebo name="${name}" parent="${parent}" type="${type}"/>
 
+        <xacro:ft_sensor_transmission name="${name}" parent="${parent}" type="${type}"/>
+
+
 	</xacro:macro>
 
 </robot>