personalrobotics / ada_feeding

Robot-assisted feeding demos and projects for the ADA robot

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Swap to F/T transducer 3 #168

Closed amalnanavati closed 6 months ago

amalnanavati commented 6 months ago

Description

This PR, joint with ada_ros2#42 switches the default F/T sensor transducer to 3, to make space for an antenna.

Testing

[x] Run the standard startup sequence.
[x] Echo the transducer 3 topic. Apply forces the the F/T sensor and verify the values make sense.
[x] Have the arm do a mouth transfer. Put your hand in front of the fork during botht he kinematic and servo motions, and verify that it stops as expected.