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Published 20 hours ago • verified publisher icon UniversalRobots

Force-Torque Sensor Simulation in Gazebo?

Open lcbw opened this issue 1 year ago • 1 comments

Ubuntu 22.04 | ROS: Humble | Gazebo Fortress | UR10e I'm interested in simulating a UR10e including the EOA F/T sensor for compliance control testing. Does this current package enable such a simulation?

It looks like previous versions of Gazebo could have leveraged something like this in the xacro:

(Found here) <updateRate>100.0</updateRate> <topicName>ft_sensor_topic</topicName> <jointName>schunk_wsg50_fixed_base_joint</jointName>

But I'm having a hard time finding what the ros2 ft_sensor plugins for Fortress named. Any support and advice is appreciated.

lcbw avatar Apr 08 '24 22:04 lcbw

This package does not currently provide any simulation for the F/T sensor. I'll label this as an enhancement, as it might make sense to provide this functionality in the future.

We don't have experience adding this simulation to gazebo in ROS 2, if anybody has please leave a comment.

RobertWilbrandt avatar Apr 10 '24 08:04 RobertWilbrandt