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Interpretation of Force/Torque Sensor using gazebo_ros_ft_sensor plugin

asked 2016-09-06 03:24:09 -0600

Masoud gravatar image

updated 2016-09-06 03:30:16 -0600

gvdhoorn gravatar image

I've successfully added a force torque/sensor to my model by adding following codes in my urdf file:

<gazebo reference="shoulder_pan_joint">

    <plugin name="ft_sensor" filename="">

Although the model is static and nothing is moving in gazebo gui, the outputs of force/torque sensor published by "ft_sensor_topic" is fluctuating. For example the force value that I expect to be -100 is fluctuating between -55 N and -143N. Other 5 components of torque and force values are also fluctuating in a similar range.

I also tried to reduce Gaussian Noise of the sensor by adding <gaussianNoise>0.0</gaussianNoise> to the plugin tag. but this didn't solve the problem.

I'm using gazebo 2.2.3 + Ros indigo running in ubuntu 14.04.

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answered 2018-08-09 15:38:36 -0600

KurtR gravatar image

I realize this is an old post, however I found that the torque/force plugin for gazebo was giving very large values even when my model was stationary. Generating better inertial values made the reported values much better ( )

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Asked: 2016-09-06 03:24:09 -0600

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Last updated: Sep 06 '16