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added codes to pr2-read-state.l for publishing forces applied to both hands. #55

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@chiwunau
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commented Oct 29, 2014

I added some simple codes to print out forces of both hands and publish it as a WrenchStamped.

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commented Oct 29, 2014

how about add new package for calculating forces from torque to jsk_common, so that

  • other robot (without euslisp) can use them
    • which robot does not have euslisp code???
  • calculate / publish forces outside of main loop
  • easy to filter out the noses using low-pass filters
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commented Oct 29, 2014

calculate / publish forces outside of main loop

Please use callback function of /joint_states and replace ros::spin-once with ros::spin.

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commented Oct 31, 2014

@k-okada Sensei
Do you mean we should write it in c++ or python? I saw your codes in virtual-force-publisher.cpp and it seems like that kdl library is not available in hydro yet.
And instead of using something like (send ri :state :torque-vector), we should subscribe /joint_states and then calculate the force. Is that what @garaemon San means?

btw, thank you for the replies and i will try to figure it out after finishing the stuff I am working on.

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commented Oct 31, 2014

kdl is released in hydro, the name is ros-hydro-orocos-kdl

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commented Nov 4, 2014

I added catkin version of virtual_force_publisher, which is able to compile on both hydr/indigo -> jsk-ros-pkg/jsk_common#589

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commented Nov 5, 2014

Thank you okada sensei,
closing this pull requesting

@chiwunau chiwunau closed this Nov 5, 2014

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