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Bug #401

open

adding a simulated ft-sens in Gazebo

Added by Ayham Alharbat 5 months ago. Updated 5 months ago.

Status:
New
Priority:
Normal
Assignee:
Anthony Mallet

Description

Hi Anthony,

The problem that I have is that I need to simulate a F/T sensor. Currently I added a sensor plugin to one of the joints:

<joint name="fixed-joint" type="fixed">
      <parent>parent_link</parent>
      <child>child_link</child>
      <sensor name="force_torque" type="force_torque">
          <update_rate>50</update_rate>
          <visualize>false</visualize>
          <always_on>true</always_on>
        </sensor>
</joint>

Then I use a ROS node to take these measurements form Gazebo and publish them to some ROS topic, and I read this topic in Simulink using ROS Toolbox.

I would like to be able to read these measurements in a similar way that I read it from the ftsens-genom3.

So a great solution would be similar to what we do with optitrack-genom3 and mrsim-gazebo.

Thanks!
Ayham

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 #1

Updated by Anthony Mallet 5 months ago

I created a small genom3 component reading a wrench topic from a
force/torque sensor in gazebo. I think this should simplify your workflow.

Please check https://git.openrobots.org/projects/gazeboft-genom3
If this works for you, I'll make a release and include it in robotpkg
as well.

Cheers,

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