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pr2_hardware_interface provides the necesssary API [1]

This tutorial [2] fleshes out an example of how to access the accelerometer from the real-time loop. The Force-Torque sensor provides a similar interface, so long as you have a version of pr2_ethercat_drivers that exposes the sensor [3].

[1] http://docs.ros.org/api/pr2_hardware_interface/html/

[2] http://wiki.ros.org/ethercat_hardware/Tutorials/GripperAccelerometerController

[3] https://github.com/PR2/pr2_ethercat_drivers/commit/0da581dd094e02bcfbc093fe11cc90ad48e9bc91