Transform force-torque into tcp frame. #237
Conversation
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Isn't this basically a copy from the ROS 1 driver? |
Yes. Shouldn't it be? @schornakj can you please test this on HW? |
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@destogl I tested this on my robot and the wrench measurements are now correctly published relative to the I'm testing this using: |
there was no mention of that anywhere. Not in the commit, nor in the PR description. Seeing as it was already part of the ROS 1 driver, and the ROS 2 version here is a continuation of that development, but this functionality somehow got removed, it would be a good idea to add a note where this came from to the commit. As-is, it's almost like this functionality is new, while in reality it was (likely inadvertently) removed. Among other things, noting where it came from and that it's reinstated functionality would link this back to the ROS 1 driver, connecting it to the history there as well, which may help in the future with maintenance tasks. |
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@livanov93 can you please add link to the ROS1 driver when squash-merging into commit? Also, it would make sense to add comment in the code too. Then you can merge this since @schornakj confirmed the functionality. |
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@destogl @gavanderhoorn I have added original source of the code in the comments. On merge, I will leave another link to the ROS1 driver. |
…https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/hardware_interface.cpp). (UniversalRobots#237) * Transform force-torque into tcp frame. * Point out the original source of the code.
…https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/hardware_interface.cpp). (UniversalRobots#237) * Transform force-torque into tcp frame. * Point out the original source of the code.
Closes #235
Sets the rotation of the wrench message into the tool center point.