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Hi,

Yes, basicly I added the ft_sensor plugin to my urdf. Following my code:

<gazebo reference="${name}_fixed_base_joint">
<provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
    <updateRate>100.0</updateRate>
    <topicName>ft_sensor_topic</topicName>
    <jointName>schunk_wsg50_fixed_base_joint</jointName>
</plugin>

some remarks:

• this plugin has to work an a joint, in my case "${name}_fixed_base_joint" is the name of the joint connecting the robot to the end-effector and is fixed type
• have look at the plugin implementation to figure out the reference frame in which the wrench is given

Hope this can help. :)

Hi,

Yes, basicly I added the ft_sensor plugin to my urdf. Following my code:

<gazebo reference="${name}_fixed_base_joint">
<provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
    <updateRate>100.0</updateRate>
    <topicName>ft_sensor_topic</topicName>
    <jointName>schunk_wsg50_fixed_base_joint</jointName>
</plugin>

some remarks:

• this plugin has to work an works with a joint, in my case "${name}_fixed_base_joint" is the name of the joint connecting the robot to the end-effector and it is fixed type
• have look at the plugin implementation to figure out the reference frame in which the wrench is given

Hope this can help. :)

Hi,

Yes, basicly I finally figure out how to do this. Basicly, I added the ft_sensor plugin to my urdf. Following my code:

<gazebo reference="${name}_fixed_base_joint">
<provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
<plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
    <updateRate>100.0</updateRate>
    <topicName>ft_sensor_topic</topicName>
    <jointName>schunk_wsg50_fixed_base_joint</jointName>
</plugin>

some remarks:

• this plugin works with a joint, in my case "${name}_fixed_base_joint" is the name of the joint connecting the robot to the end-effector and it is fixed type
• have look at the plugin implementation to figure out the reference frame in which the wrench is given

Hope this can help. :)

I finally figure out how to do this. Basicly, I added the ft_sensor plugin to my urdf.

Following my code:

<gazebo reference="${name}_fixed_base_joint">
 <provideFeedback>true</provideFeedback>
</gazebo>
 <!-- The ft_sensor plugin -->
-->  
<gazebo>
 <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
     <updateRate>100.0</updateRate>
     <topicName>ft_sensor_topic</topicName>
     <jointName>schunk_wsg50_fixed_base_joint</jointName>
 </plugin>
</gazebo>

some remarks:

• this plugin works with a joint, in my case "${name}_fixed_base_joint" is the name of the joint connecting the robot to the end-effector and it is fixed type
• have look at the plugin implementation to figure out the reference frame in which the wrench is given

Hope this can help. :)