Class GazeboRosFTSensor

Inheritance Relationships

Base Type

  • public gazebo::ModelPlugin

Class Documentation

class GazeboRosFTSensor : public gazebo::ModelPlugin

This is a controller that simulates a 6 dof force and torque sensor on link or joint. For joints, the wrench is reported in the joint child link frame and the measure direction is child-to-parent link. (Force and Torque Feed Back Ground Truth) If <body_name> is specified, the plugin acts as sensor on a link, otherwise if <joint_name> is specified, it acts as a sensor on a joint Example Usage: 

<plugin name="gazebo_ros_ft_sensor" filename="libgazebo_ros_ft_sensor.so">

  <ros>

    <!-- Add a namespace -->
    <namespace>/demo</namespace>

    <!-- Remap the default topic -->
    <remapping>wrench:=wrench_demo</remapping>

  </ros>

  <!-- Link name -->
  <body_name>link</body_name>

  <!-- Set frame id of published message. Used only when sensor used on links -->
  <frame_name>demo_world</frame_name>

  <!-- Update rate in Hz, defaults to 0.0, which means as fast as possible -->
  <update_rate>1</update_rate>

  <!-- Standard deviation of the noise to be added to the reported wrench messages. -->
  <gaussian_noise>0.01</gaussian_noise>

</plugin>

Public Functions

GazeboRosFTSensor()

Constructor.

~GazeboRosFTSensor()

Destructor.

Protected Functions

void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override