McRtcTactileSensorPlugin
mc_rtc plugin to use tactile sensor in controller via ROS interface
Install
Requirements
- Compiler supporting C++17
- Tested on
Ubuntu 20.04 / ROS Noetic
Dependencies
- mc_rtc
- isri-aist/MujocoTactileSensorPlugin (Install as a ROS package)
ros-${ROS_DISTRO}-eigen-conversions
Installation procedure
# Load the ROS setup file so that the `mujoco_tactile_sensor_plugin` package can be found
$ mkdir ${HOME}/src && cd ${HOME}/src
$ git clone git@github.com:isri-aist/McRtcTactileSensorPlugin.git --recursive
$ cd McRtcTactileSensorPlugin
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make
$ make install
Plugins
TactileSensor
This plugin receives tactile sensor data via ROS topic and sets wrench on the robot's force sensor in mc_rtc controller.
See this page for a general tutorial on configuring mc_rtc plugins.
Put the following line in the mc_rtc configuration (e.g. ${HOME}/.config/mc_rtc/mc_rtc.yaml
).
Plugins: [TactileSensor]
Put the following lines in the plugin configuration (e.g. ${HOME}/.config/mc_rtc/plugins/TactileSensor.yaml
).
sensors:
- topicName: /mujoco/tactile_sensor
tactileSensorFrameName: jvrc1_right_elbow_tactile_sensor
forceSensorName: RightElbowForceSensor
The above configuration assumes a ROS topic named /mujoco/tactile_sensor
with a message of type mujoco_tactile_sensor_plugin/TactileSensorData being published by some node (e.g. isri-aist/MujocoTactileSensorPlugin).
The tactile sensor frame (e.g. jvrc1_right_elbow_tactile_sensor
) must be defined in a URDF model (e.g. jvrc_description/urdf/jvrc1.urdf
).
The force sensor (e.g. RightElbowForceSensor
) must be defined in robot module (e.g. mc_rtc/src/mc_robots/jvrc1.cpp
).