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Force-Torque measurements should be attached to correct frame

Open fmauch opened this issue 3 years ago • 2 comments

Currently our FTS measurements are published in the tool0 frame. This is not necessarily true, which is why we changed that on the ROS1 driver recently.

Particularly, I think we should make sure they are published in the controller frame (which we currently don't have, see #571)

fmauch avatar Dec 13 '22 16:12 fmauch

Hi @fmauch, is this still the current status of the reported issue? In ROS 2 Humble testing I've noticed that changing the active TCP on the TP affects the wrench readings, but the frame_id is still reporting tool0.

dpiet avatar Oct 16 '23 20:10 dpiet

Yes, this is unfortunately still the state. I do have this on my current work plate though, so if nothing severely comes in between I am confident to have something in the next couple of weeks.

fmauch avatar Oct 18 '23 09:10 fmauch