How do I use or find documentation for robotiq_ft_sensor_acc numerical commands?
I'm using the kinetic-devel branch of the robotiq package and noticed that in the comments of rq_sensor.cpp, a "New interface with numerical commands" is mentioned in the receiverCallback
function. Until now I've been unaware of these, as they don't seem to be mentioned anywhere except in the pull requests of the jade-devel branch of this package, which reference some old string-based commands like "SET ZRO". I am interested in using whatever the equivalent of "SET ZRO" is now to zero out my FT300 sensor before using its readings.
After some digging I've learned I need to use rosservice call robotiq_ft_sensor_acc [command_id] [command]
, but as for what [command_id]
and [command]
should be, other than an integer and string respectively, I have no clue. I have tried every combination of numbers and strings but the service always returns success: False
and either res: !!binary |
followed by some random short string of characters, or res:''
. Also, occasionally the terminal running rq_sensor gives me a warning saying that I should use a numeric command instead of a string, something which the service doesn't seem to actually allow. It doesn't give this warning if I retry the same command a second time.
I'm very new to ROS so pardon me if this is a stupid question, but what commands are appropriate for this service? Or, where can I find documentation that tells me how robotiq_ft_sensor_acc is supposed to work?
Edit:
Wiki page: http://wiki.ros.org/robotiq
robotiq_ft_sensor API: http://docs.ros.org/kinetic/api/robot...
Can you please update your question with a link to the package that you are referring to?
Yes! I've added everything I could find.