First time here? Check out the FAQ!


ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

accessing other sensors in real-time controller

asked Feb 26 '15

gustavogoretkin gravatar image

From a real-time controller, I can access joint positions and motor current. How would I access wrist accelerometer data and Force-Torque data in a real-time way. I will not be able to subscribe to the topics that publish those sensors from the real-time loop.

My guess is that I have to modify the ethercat driver here: https://github.com/PR2/pr2_ethercat_d... so that the force/torque and acceleration measurements are available not only through the topic.

I am trying to follow the pathway from encoder counts, to joint position, through pr2_mechanism_model, since joint positions are accessible from the real-time loop, and use that as an example of how I'd use the sensors.

I realize I can design a non-real-time control loop that subscribes to any topic.

Preview: (hide)

1 Answer

Sort by » oldest newest most voted
0

answered Mar 11 '15

gustavogoretkin gravatar image

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_...

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

[3] https://github.com/PR2/pr2_ethercat_d...

Preview: (hide)

Question Tools

1 follower

Stats

Asked: Feb 26 '15

Seen: 207 times

Last updated: Mar 11 '15