robotiq_ft300_sensor

--

Installation and Compilation

1. Connect all the cables and check that the sensor is properly powered. - Add pictures
2. Go to the driver folder /robotiq_ft_sensor_dev_v1.0.1 and follow the compilation instructions stated in the FT 300 sensor manual in Section 4.2.2 Linux page 79. Check that the device is recognized by your PC and the test code works (i.e. data is streaming).

• To get an update version of the driver you can download it from https://robotiq.com/support. Search for FT300 Force Torque Sensor -> Software -> PC Integration -> Sensor Development.

3. If you are using one of robotiq's grippers you probably have the robotiq stack which includes the robotiq_force_torque_sensor and you can skip this step. Otherwise:

• Delete the CATKIN_IGNORE file in robotiq_ft300_sensor/robotiq_force_torque_sensor/.
• Compile package:

  $ cd ~/catkin_ws
  $ catkin_make
  $ source devel/setup.bash
  $ catkin_make

---

Usage

• To stream the custom FT sensor message, /robotiq_force_torque_sensor, which has of the following format:

  float32 fx
  float32 fy
  float32 fz
  float32 Mx
  float32 My
  float32 Mz

  or geometry_msgs/WrenchStamped named /robotiq_force_torque_wrench. You must run the following node:

  $ rosrun robotiq_force_torque_sensor rq_sensor

• To listen to subscribed to the topics or visualize the messages from command line:

   $ rostopic echo /robotiq_force_torque_sensor

  or simply subscribe to the message:

  $ rostopic echo /robotiq_force_torque_wrench

• To bias the sensor and test the readings you can run the following node:

  $ rosrun robotiq_force_torque_sensor rq_test_sensor

• If there is a tool attached to the sensor you can calibrate using the following something like this...force_torque_tools