This repository is created to simulate the force torque sensor on universal robot.
This repo will generate the force torque data on the wrist_3_link of the UR5.
- source the required environment.
- Make sure to clone UR5 robot from here
https://github.com/amjack0/universal-robot-with-force-torque-sensor
, As there are changes requied in robot description file to haveforce torque sensor
roslaunch ur_gazebo ur5.launch
- Make sure to change the
gazebo_transport_topic_to_sub
in the node as per your topic. after adding the sensor in robot.urdf.xacro file, launch the gazebo model and check the sensor topic name bygz topic -l
. rosrun ft_sensor ft_sensor_gazebo_transport_to_ros_topic
will start publishing the wrench.