Extract force value from "wrench" topic.

[ZZWang21]

I would like to extract one of the forces value, for example, force.z, from the rostopic "wrench". I tried many methods, but still not working. I am connecting a real UR5e robot to ROS. I can get the values when using "rostopic echo /wrench". I would like to extract the force.z to use it as a control parameter in python.

Does any expert have an idea?

Thank you very much.

[fmauch]

Having a node that subscribes to that topic and then doing something with the value in the msg callback should be sufficient. Something like this (Note: I haven't tested that code, so it might contain bugs):

#!/usr/bin/env python
import rospy
from gemoetry_msgs.msg import WrenchStamped

def callback(data):
    # Do whatever you want in here
    rospy.loginfo(msg.wrench.force.z)
    
def listener():
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("wrench", WenchStamped, callback)
    rospy.spin()

if __name__ == '__main__':
    listener()

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