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AcutronicRobotics / HRIM

An information model for robot hardware. Facilitates interoperability across modules from different robot manufacturers. Built around ROS 2.0
https://acutronicrobotics.com/technology/hrim/
Apache License 2.0
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Update torque sensor #12

Closed ibaiape closed 5 years ago

ibaiape commented 5 years ago

Contemplating up to 3 axis as 6 would imply a force sensor, communicated separately.

Measurements of a single axis, multi-axis sensors could publish each value in a separated named topic.

ahcorde commented 5 years ago

@ibaiape can you fill all the values in the specs message with this datasheet, which is the current torque torque sensor integrated in H-ROS.

ibaiape commented 5 years ago

max_torque: 50

resolution: 0.1

device_type: 0

force_direction: 2

max_rpm: 0 # Not taken into account if the sensor type is static

safe_overload: 150 max_overload: 400

axis: 1

max_rate: ? # Unspecified in datasheet, assumed max possible physical rate, calculable with connector&cable max rate divided by measurement bit size

min_ideal_temp: -10 max_ideal_temp: 60

min_operating_temp: -10 max_operating_temp: 85

min_error_margin: 0.1 max_error_margin: 0.1

Removed min_torque (as it's either 0 or negative max_torque). Renamed "calibrated" temp to "ideal" temp for easier understanding. Added resolution. Renamed max/min "accuracy" for max/min "error margin". Removed force_sensor, if there's a force reading it will be visible through it's own topics.