46 #include <geometry_msgs/Wrench.h> 47 #include <geometry_msgs/Twist.h> 48 #include <geometry_msgs/WrenchStamped.h> 49 #include <geometry_msgs/PoseStamped.h> 50 #include <geometry_msgs/Vector3Stamped.h> 57 #include <ati_force_torque/PublishConfigurationParameters.h> 58 #include <ati_force_torque/NodeConfigurationParameters.h> 79 void subscribeData(
const geometry_msgs::Twist::ConstPtr& msg);
86 bool transform_wrench(std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench *transformed);
bool transform_wrench(std::string goal_frame, std::string source_frame, geometry_msgs::Wrench wrench, geometry_msgs::Wrench *transformed)
tf2_ros::Buffer * p_tfBuffer
std::string transform_frame_
ForceTorqueSensorSim(ros::NodeHandle &nh)
ros::Timer ftUpdateTimer_
void pullFTData(const ros::TimerEvent &event)
ati_force_torque::PublishConfigurationParameters pub_params_
geometry_msgs::WrenchStamped joystick_data
ros::Publisher transformed_data_pub_
ros::Publisher sensor_data_pub_
tf2_ros::TransformListener * p_tfListener
bool is_pub_transformed_data_
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