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Universal Robot force feedback

asked 2021-09-28 06:21:16 -0600

horvath.daniel gravatar image

updated 2021-09-28 06:23:23 -0600


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!

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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.

gvdhoorn gravatar image gvdhoorn  ( 2021-09-28 08:48:31 -0600 )edit

Can I ask, do you know where the sensor is? I also have a UR5e robotic arm. Thank you.

waltergun gravatar image waltergun  ( 2022-08-16 05:33:16 -0600 )edit

It's integrated into the flange.

gvdhoorn gravatar image gvdhoorn  ( 2022-08-18 12:51:53 -0600 )edit

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answered 2021-09-28 08:51:24 -0600

gvdhoorn gravatar image

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
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Asked: 2021-09-28 06:21:16 -0600

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Last updated: Sep 28 '21