Skip to content

Latest commit

 

History

History
13 lines (9 loc) · 795 Bytes

ros_interface_optoforce.md

File metadata and controls

13 lines (9 loc) · 795 Bytes
Raw

ForceDimension ROS interface

optoforce_topic node

All interfaces are defined as topics, but might be a good idea to use services instead of subscribed topics due to their function.

Published topics

  • /wrench_deviceSN: publishes the Wrench of the Optoforce device defined with its Serial Number. Force in Newtons, and Torque in Newtown.meter. ROS message type are geometry_msgs/WrenchStamped

Subscribed topics

  • /start_publishing: subscribes to a command to start publishing Wrench data. ROS message type are std_msgs/Bool.
  • /start_new_acquisition: subscribes to a command to start a new acquisition. ROS message type are std_msgs/Bool.
  • /reset: subscribes to a command to re-make the Zero of the OptoForce device. ROS message type are std_msgs/Bool.