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Does anyone have a working example or a tutorial for a force_torque plugin?

I'm currently trying to implement a force_torque sensor to the end-effector of a UR5. I've found examples of F/T plugins being used but i cant seem to implement them properly. I would try to check if my plugins are valid using rostopic list but the plugin i'm working on doesnt show.

I've looked at these two examples of using F/T plugins, but i'm not sure if i'm using them correctly. https://github.com/CentroEPiaggio/force-torque-sensor/blob/master/model/ft_sensor.gazebo.xacro http://docs.ros.org/jade/api/gazebo_plugins/html/group__GazeboRosFTSensor.html

I can't seem to find a tutorial for an F/T plugin specifically, nor can i find a tutorial to implement the F/T to a robot end-effector.

If someone can point me in the right direction, it would be greatly appreciated.

Does anyone have a working example or a tutorial for a force_torque plugin?

I'm currently trying to implement a force_torque sensor to the end-effector of a UR5. I've found examples of F/T plugins being used but i cant seem to implement them properly. I would try to check if my plugins are valid using rostopic list but the plugin i'm working on doesnt show.

I've looked at these two examples of using F/T plugins, but i'm not sure if i'm using them correctly. https://github.com/CentroEPiaggio/force-torque-sensor/blob/master/model/ft_sensor.gazebo.xacro http://docs.ros.org/jade/api/gazebo_plugins/html/group__GazeboRosFTSensor.html

I can't seem to find a tutorial for an F/T plugin specifically, nor can i find a tutorial to implement the F/T to a robot end-effector.

I'm currently modifying the ur5.urdf.xacro and ur.gazebo.xacro files since i'm still learning. later on i'd like to write a separate xacro file that contains the sensors and the plugins.

If someone can point me in the right direction, it would be greatly appreciated.

Does anyone have a working example or a tutorial for a force_torque plugin?

I'm currently trying to implement a force_torque sensor to the end-effector of a UR5. I've found examples of F/T plugins being used but i cant seem to implement them properly. I would try to check if my plugins are valid using rostopic list but the plugin i'm working on doesnt show.

I've looked at these two examples of using F/T plugins, but i'm not sure if i'm using them correctly. https://github.com/CentroEPiaggio/force-torque-sensor/blob/master/model/ft_sensor.gazebo.xacro http://docs.ros.org/jade/api/gazebo_plugins/html/group__GazeboRosFTSensor.html

I can't seem to find a tutorial for an F/T plugin specifically, nor can i find a tutorial to implement the F/T to a robot end-effector.

I'm using the UR5 model found in the ros-kinetic-universal-robot package, I'm currently modifying the ur5.urdf.xacro and ur.gazebo.xacro files since i'm still learning. later on i'd like to write a separate xacro file that contains the sensors and the plugins.

If someone can point me in the right direction, it would be greatly appreciated.