robotcontrol Posted August 5, 2018 Share Posted August 5, 2018 Hi All, I want to use SDK mode to read the forces put on Sawyer for real time. Do you have any ideas? I know that in Intera, there is a module called "Shared data", from which you can read the forces in x,y,z direction. But how can we output those data using some functions from SDK mode? Any ideas will be appreciated. Thanks! Thanks, Yayun Quote Link to comment Share on other sites More sharing options...
robotcontrol Posted August 6, 2018 Author Share Posted August 6, 2018 Hi All, All in all, I want to know the type of rostopic: motor_control_msgs/TorqueData and how I can get it . Thanks! Thanks, Yayun Quote Link to comment Share on other sites More sharing options...
Shiwei Wang Posted August 6, 2018 Share Posted August 6, 2018 Hi Yayun, With regards to your first question: "I want to know the type of rostopic: motor_control_msgs/TorqueData and how I can get it": Unfortunately, access is not given to motor_control_msgs, as that package's messages are only used internally. For the second question: "read forces in x,y,z direction in SDK mode": I recommend you to echo the topic: /robot/limb/right/endpoint_state, it will give you the x,y,z force and torque wrenches projected into Cartesian endpoint frame forces. Shiwei 1 Quote Link to comment Share on other sites More sharing options...
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