Ask Your Question
0

Universal Robot force feedback

asked 2021-09-28 06:21:16 -0500

horvath.daniel gravatar image

updated 2021-09-28 06:23:23 -0500

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!

edit retag flag offensive close merge delete

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.

gvdhoorn gravatar image gvdhoorn  ( 2021-09-28 08:48:31 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2021-09-28 08:51:24 -0500

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
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2021-09-28 06:21:16 -0500

Seen: 235 times

Last updated: Sep 28 '21