47 std::cout<<
"ForceTorqueSensorSim"<<std::endl;
57 if(is_pub_transformed_data_){
65 ftUpdateTimer_.start();
88 geometry_msgs::TransformStamped transform;
89 geometry_msgs::Vector3Stamped temp_vector_in, temp_vector_out;
105 temp_vector_in.vector = wrench.force;
107 transformed->force = temp_vector_out.vector;
109 temp_vector_in.vector = wrench.torque;
111 transformed->torque = temp_vector_out.vector;
bool transform_wrench(std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench *transformed)
void publish(const boost::shared_ptr< M > &message) const
tf2_ros::Buffer * p_tfBuffer
std::string transform_frame_
ForceTorqueSensorSim(ros::NodeHandle &nh)
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
ros::Timer ftUpdateTimer_
virtual geometry_msgs::TransformStamped lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const
void pullFTData(const ros::TimerEvent &event)
void doTransform(const T &data_in, T &data_out, const geometry_msgs::TransformStamped &transform)
ati_force_torque::PublishConfigurationParameters pub_params_
geometry_msgs::WrenchStamped joystick_data
ros::Publisher transformed_data_pub_
ros::Publisher sensor_data_pub_
const std::string & getNamespace() const
tf2_ros::TransformListener * p_tfListener
bool is_pub_transformed_data_
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
geometry_msgs::WrenchStamped transformed_data
void subscribeData(const geometry_msgs::Twist::ConstPtr &msg)
std::string sensor_frame_
virtual void updateFTData(const ros::TimerEvent &event)=0
ros::Subscriber force_input_subscriber
uint _num_transform_errors
ati_force_torque::NodeConfigurationParameters node_params_
geometry_msgs::WrenchStamped threshold_filtered_force