/ati_sensor_ros_driver

The ROS package for ATI force torque sensor.

Primary LanguagePython

ATIForceSensorROSDriver

The ROS package for ATI force torque sensor.

System Requirement

  1. ROS Noetic
  2. Python3.8

Run

Remeber to set up the workspace every time opening a new terminal.

In one terminal

roscore

In another terminal

rosrun ati_sensor_ros_driver ati_driver.py

If you want to visualize the wrench measure,

  1. open rviz.
  2. Change the frame to ati_frame
  3. Add -> By topic -> ati_ft

You should be seeing an pink arrow point to the total force direcion and a yellow arrow and circle illustrating the total torque.

ROS Service

Set tare

In one terminal

rosservice call /set_ati_tare

Clear tare

In one terminal

rosservice call /clear_ati_tare

Generally you will not clear the tare.