tactile sensors and urdf
I am working on a robotic hand, and tactile sensors are available on each finger ... I made a urdf to describe the kinematics of the hand, and now I am thinking of including tactile sensors.
a) Is there a common approach to include tactile sensors in urdf ? Should it be done using some fixed joints for each sensor separately ? (there are about 100 sensors, it will be a pain to include :S)
b) The representation of them should be done using markers I presume ?
Also, any suggestions on the usage of tactile arrays with tf package ? googled but found nothing.
Thank you! Yaro
It's not very helpful, but have you tried looking at the PR2's touch sensors?
I looked into (gripper.urdf.xacro) and (pr2_description/urdf/sensors) but found nothing related to tactile sensors. I looked into (pr2_gripper_sensor_controller) but everything seems to be hard wired and not generalised. Therefore I wonder if anybody used urdf and tf for tactile sensors ....