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UniversalRobots / Universal_Robots_ROS_Driver

Universal Robots ROS driver supporting CB3 and e-Series
Apache License 2.0
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Topic /wrench using UR10 CB3 with Robotiq FT300 sensor #621

Closed julien-audet closed 1 year ago

julien-audet commented 1 year ago

Summary

I am using a FT300 sensor from Robotiq with a UR10 cobot (CB3 series) to get the sensor values at the end effector. The FT300 sensor comes with a URCap called Copilot where you can monitor the values. I initially thought that the wrench values from the topic /wrench were coming from the FT300 sensor since they physically "made sense", but those values and the wrench values shown on the copilot dashboard on the teach pendant are actually not the same. If I exert a force on the TCP, the values from /wrench are 3-4 bigger than the FT300 sensor values.

My question is: can I actually get the values of the FT300 sensor through the /wrench topic? Or is this just with the e-series which has an integrated force sensor?

Also, where would those wrench values come from if not from the FT300 sensor for a UR CB3 series?

Versions

ROS Driver version: Universal_Robots_ROS_Driver 2.1.2
ROS Distribution: Noetic
Universal Robots Software: URSoftware 3.15.8.106339
URCaps Software version(s): External Control 1.05 and Robotiq Copilot 1.27.2
julien-audet commented 1 year ago

Instead of using the Universal_Robots_ROS_Driver to read the force values through the /wrench topic, I'm using simple socket programming with a client listening to port 63351 on the UR controller (which is reserved by Robotiq for their sensor). Then, I can receive FT300 force sensor data every interval and publish those values to my own topic.