Add force torque sensor #393
Conversation
nlamprian
force-pushed
the
nlamprian/force_torque
branch
from
7915ac4
to
5462681
Compare
Signed-off-by: Nick Lamprianidis <nlamprian@gmail.com>
nlamprian
force-pushed
the
nlamprian/force_torque
branch
from
5462681
to
f9275d4
Compare
| EXPECT_EQ(sdf.get(), ft.Element().get()); | ||
|
|
||
| // The ForceTorque::Load function is tested more thouroughly in the | ||
| // link_dom.cc integration test. |
There was a problem hiding this comment.
wow, that test is actually wrong because the force_torque sensor is only supposed to be attached to a joint, not a link. we can merge this as is, but at some point we will need to correct test/sdf/sensors.sdf
here's an example from osrf/gazebo:
|
This PR is straight-forward; it exposes the existing data fields from the specification. It does raise some questions for me about the fact that I'll open an issue to discuss this further. |
|
Codecov Report
@@ Coverage Diff @@
## master #393 +/- ##
==========================================
- Coverage 87.71% 87.52% -0.19%
==========================================
Files 61 62 +1
Lines 9467 9542 +75
==========================================
+ Hits 8304 8352 +48
- Misses 1163 1190 +27
Continue to review full report at Codecov.
|
Signed-off-by: Nick Lamprianidis <nlamprian@gmail.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Nick Lamprianidis <nlamprian@gmail.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
|
This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-01-10/1228/1 |
|
This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1 |
Addresses gazebosim/gz-sensors#25
Signed-off-by: Nick Lamprianidis nlamprian@gmail.com