Hello folks,
during work on force controlled robots (manipulators and mobile platforms) [Intelligent Industrial Robotics (IIROB)](
http://rob.ipr.kit.edu/english/303.php) extended a driver for Schunk-FTS (with ATI electronics) which communicates over CAN-Bus. We find the package very useful in our research and projects so hopefully will be also useful for you.
Some important features explained in the documentation on [ROS-wiki](
http://wiki.ros.org/ati_force_torque):
The ati_force_torque package provides a ROS interface for an ATI force/torque sensor that is connected over CAN-bus. The most important features of this package are:
1. 2 ROS Nodes one for configuration and one for reading of sensor.
2. Implemenation of hardware_interface::ForceTorqueSensorHandle for using sensor in ros_control.
3. Sampling the sensor on ca. 800 Hz and downsample to desied freqency
4. Automatic calibration of sensor upon start.
5. Definition of static calibration offsets.
6. Integration of filters: ThresholdFilter, LowPassFilter, MovingMeanFilter and GravityCompensation (from iirob_filters package).
This package is builds upon the original cob_forcetorque written in 2011 and not updated since than.For can interfacing the CAN devices cob_generic_can package is used.
Best,
Denis
---
[Visit Topic](
https://discourse.ros.org/t/new-package-ati-force-torque/968/1) or reply to this email to respond.
If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates.
______________________________________________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
Unsubscribe: <
http://lists.ros.org/mailman//options/ros-users>
(text/plain)