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There are a set of tutorials on the sr_tactile_sensors wiki page that may help you. For example, there's one that shows how to subscribe to the /sr_tactile/touch/ff topic. It's in C++ so I made a Python version of it (that's been combined with the subscriber tutorial:

#!/usr/bin/env python

import rospy
from std_msgs.msg import Float64


def callback(msg):
    # log the message data to the terminal
    # rospy.loginfo("The value is %d", msg.data)


def listener():
    # start the node
    rospy.init_node("listener")
    # subscribe to the '/sr_tactile/touch/ff' topic
    tactile_sub = rospy.Subscriber("/sr_tactile/touch/ff", Float64, callback)
    # keep python from exiting until this node is stopped
    rospy.spin()


if __name__ == '__main__':
    listener()

There are a set of tutorials on the sr_tactile_sensors wiki page that may help you. For example, there's one that shows how to subscribe to the /sr_tactile/touch/ff topic. It's in C++ so I made a Python version of it (that's been combined with the subscriber tutorial:

#!/usr/bin/env python

import rospy
from std_msgs.msg import Float64


def callback(msg):
    # log the message data to the terminal
    # rospy.loginfo("The value is %d", msg.data)


def listener():
    # start the node
    rospy.init_node("listener")
    # subscribe to the '/sr_tactile/touch/ff' topic
    tactile_sub = rospy.Subscriber("/sr_tactile/touch/ff", Float64, callback)
    # keep python from exiting until this node is stopped
    rospy.spin()


if __name__ == '__main__':
    listener()