Plugin XML Reference and Example

Ros Gazebo Ros Force/Torque Sensor Plugin. This is a model plugin which broadcasts geometry_msgs/WrenchStamped messages with measured force and torque on a specified joint. The wrench is reported in the joint CHILD link frame and the measure direction is child-to-parent link. More...

Collaboration diagram for Plugin XML Reference and Example:

Classes
class	gazebo::GazeboRosFT
	GazeboRosFT controller This is a controller that simulates a 6 dof force sensor. More...

Detailed Description

Ros Gazebo Ros Force/Torque Sensor Plugin. This is a model plugin which broadcasts geometry_msgs/WrenchStamped messages with measured force and torque on a specified joint. The wrench is reported in the joint CHILD link frame and the measure direction is child-to-parent link.

Example Usage:

<!-- Enable the Joint Feedback -->
<gazebo reference="JOINT_NAME">
<provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
<updateRate>100.0</updateRate>
<topicName>ft_sensor_topic</topicName>
<jointName>JOINT_NAME</jointName>
</plugin>
</gazebo>