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force_torque_tools: force_torque_sensor_calib | gravity_compensation

Package Summary

Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.

force_torque_tools: force_torque_sensor_calib | gravity_compensation

Package Summary

Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.

force_torque_tools: force_torque_sensor_calib | gravity_compensation

Package Summary

Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.

force_torque_tools: force_torque_sensor_calib | gravity_compensation

Package Summary

Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.

force_torque_tools: force_torque_sensor_calib | gravity_compensation

Package Summary

Compensates gravity forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor.

Prerequisites

Running this node requires you to have a calibrated force-torque sensor (bias of the sensor + mass & center of mass of gripper) and an accelerometer whose reference frame has already been calibrated to some reference frame of the robot. You can do this by using the force_torque_sensor_calib package. Please look at the tutorials page of the force_torque_tools metapackage for instructions on how to run the calibration node.

ROS API

gravity_compensation_node

The gravity_compensation_node compensates gravitational forces on the gripper of the robot so that force-torque signals are zeroed. Assumes previously calibrated accelerometer and F/T sensor. It also broadcasts through tf the pose of the center of mass of the gripper from the force-torque sensor calibration.

Subscribed Topics

~/ft_raw (geometry_msgs/WrenchStamped) ~/imu (sensor_msgs/Imu)

Published Topics

~/ft_zeroed (geometry_msgs/WrenchStamped) ~/ft_compensated (geometry_msgs/WrenchStamped)

Parameters

~ns (string, default: "~") ~bias (double array) ~gripper_mass (double) ~gripper_com_frame_id (string) ~gripper_com_child_frame_id (string) ~gripper_com_pose (double array) ~gripper_com_broadcast_frequency (double, default: 100.0) ~loop_rate (double, default: 1000.0)

Launching the node

An example calibration file required to run this node can be found under config/ft_calib_data_example.yaml in the force_torque_sensor_calib package.

You can launch the node using the gravity_compensation.launch file contained in the launch folder of the package and setting a few roslaunch arguments, e.g.:

    roslaunch gravity_compensation gravity_compensation.launch node_name:=gravity_compensation calib_data_file:=$HOME/.ros/ft_calib/ft_calib_data.yaml ft_raw:=/ft_sensor/ft_raw imu:=/imu/data loop_rate:=650.0 ns=/ft_sensor gripper_com_child_frame_id:=gripper_com

where the arguments are:

Tutorials

Please visit the tutorials page of the force_torque_tools metapackage.

Bug Reports & Feature Requests

We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through github (requires github account) or by emailing the maintainers.


2019-10-12 12:38