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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!
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: 2021-09-28 06:21:16 -0500
Seen: 825 times
Last updated: Sep 28 '21
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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.
Can I ask, do you know where the sensor is? I also have a UR5e robotic arm. Thank you.
It's integrated into the flange.