Calibration of fingertip pressure data

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Hello !

We recently mounted fingertip pressure sensor on one hand of our PR2, and we are able to get the pressure data (under ROS Groovy). We successfully used the view_fingertip_pressure GUI but we are wondering about calibrating data. The /pressure/<gripper_motor_name> topic provides raw data, and on the GUI, there is a "Zero" check box that allow to provide a relative measure (and so a calibrated one).

The question is : how can we get this calibrated data to use in other nodes ? Is there a node that process raw data to calibrated data (i.e. sensor readings moved from a "Zero" offset) ? Or should we write a procedure to do that ?