Universal Robot force feedback
Hello!
I'm working on a project which involves the use of an UR5e robot arm. This arm has an built-in force/torque sensor which can be used for specific applications and I'm trying to use it for my project. Is there any way to get force feedback from this sensor using the ROS drivers?
Thanks in advance!
Asked by horvath.daniel on 2021-09-28 06:21:16 UTC
Answers
The force_torque_sensor_controller publishes whatever the FT sensor reports on a ROS topic.
By default I believe that topic is: /wrench.
To get an overview of what the driver publishes, subscribes to or otherwise is part of its ROS API, you could run:
rosnode info /ur_hardware_interface
Asked by gvdhoorn on 2021-09-28 08:51:24 UTC
Comments
when I read "force feedback" I wondered whether you meant it as that term is used to describe a joystick which "pushes back" fi. The title might be improved if you mention the FT sensor instead.
Asked by gvdhoorn on 2021-09-28 08:48:31 UTC
Can I ask, do you know where the sensor is? I also have a UR5e robotic arm. Thank you.
Asked by waltergun on 2022-08-16 05:33:16 UTC
It's integrated into the flange.
Asked by gvdhoorn on 2022-08-18 12:51:53 UTC