Rtde external ft - #388
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Should we consider adding ft_rtde_input_enable() command to the script command interface, then you can use force_torque input together with the driver?
Then it would also be possible to use the driver with an external force torque sensor.
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Additional details and impacted files@@ Coverage Diff @@
## master #388 +/- ##
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- Coverage 77.00% 76.54% -0.46%
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Files 92 92
Lines 4287 4327 +40
Branches 482 488 +6
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+ Hits 3301 3312 +11
- Misses 743 769 +26
- Partials 243 246 +3
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Co-authored-by: Mads Holm Peters <79145214+urmahp@users.noreply.github.com>
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Add support for sending external force-torque measurements through RTDE.
This can be especially useful if you want to inject fake measurements into a URSim simulated robot.
There's also an example with a simple TUI doing exactly that.