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Force Torque connection method is not great #107
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For reference, here's a slightly more reasonable approach, with a launch file, fixed model for FT_300 model, etc: https://github.com/ibaranov-cp/husky_UR_accessories/tree/master/robotiq_force_torque_sensor |
Thanks for reporting. I can't say I've seen a perfect way of handling USB devices. The "kinect" cameras allow you to specify the bus# (helpful if only one device is plugged into a bus) or the bus+device# (less helpful because the device# increments every time something is plugged in). Other devices allow you to specify a "unique number" (i.e. serial number) and then the USB devices are searched for the appropriate info. Do you think any of these approaches are better? Would it be possible with the Robotiq? |
Hey, see my reply above, it has a udev rule baked in that will recognized every time, and already fixed launch files for you. |
Does your fix above work if multiple sensors are plugged in? |
Sure, each ftdi RS485 adaptor has its own unique ID, Infact we use them
exactly this way.
…On Sep 25, 2017 6:35 PM, "Shaun Edwards" ***@***.***> wrote:
Does your fix above work if multiple sensors are plugged in?
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Hello, |
Hello,
The behaviour for connection to the force torque is fairly bad practice.
https://github.com/ros-industrial/robotiq/blob/jade-devel/robotiq_force_torque_sensor/src/rq_sensor_com.cpp#L155
This causes any other USB devices to get killed off, as this driver steals focus, crashing other software (including, for example, our Husky)
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