Open stefanscherzinger opened 2 years ago
Is related to #54
Hi, really cool software package you have here! I've been experimenting with it a bit and came across this issue as I'm running foxy and my force torque sensor data is relative to the end effector frame rather than the base frame. I could transform it to the base frame if needed, but figured I'd open the discussion about handling it here in the controller.
Since the force torque data is a WrenchStamped
message, I wanted to get your thoughts on just interpreting the sensor data based on the message header.frame_id
. This could be done for both foxy and galactic and the ft_sensor_ref_link
parameter could be removed.
I've implemented this in my fork of the repo so I'm happy to submit a PR if you think it could be a potential solution.
Hi @ksotebeer
Thanks for contributing your thoughts! I Looked at your fork and it seems very promising. It would be awesome if you could open a PR :)
This could be done for both foxy and galactic and the ft_sensor_ref_link parameter could be removed.
I like this approach. It seems reasonable to use the header.frame_id
for this purpose. However, we should make sure to emit some warning when this frame_id
is not part of the kinematics chain and would hence fail when transforming the sensor quantities to the base frame.
Where you able to test your changes on real hardware? I'm tempted to add some integration tests to check if the behavior is as expected.
Hey sorry for the delayed response, I've been travelling for the past week. I will clean up my branch and add some warnings then open a PR.
So far I've only been testing in simulation but I plan to test on hardware within the next month or two. I have a custom 7DOF arm I'll be testing on but currently having some issues with the force torque sensor that I need to work out.
Problem
Currently, we assume force-torque sensor measurements to be given in
robot_base_link
in the controller's .yaml) (forfoxy
)ft_sensor_ref_link
in the controller's .yaml) (forgalactic
)The behavior of
foxy
is a somewhat Universal Robots ROS2 driver (e-Series) specific adjustment during development.Goal
Rethink this again and try to support both variants in both
foxy
andgalactic
. It should be possible for users to paramterize this in configuration files.