How to read the force put on Sawyer by SDK mode


robotcontrol
 Share

Recommended Posts

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

Link to comment
Share on other sites

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

  • Like 1
Link to comment
Share on other sites

Join the conversation

You can post now and register later. If you have an account, sign in now to post with your account.

Guest
Reply to this topic...

×   Pasted as rich text.   Paste as plain text instead

  Only 75 emoji are allowed.

×   Your link has been automatically embedded.   Display as a link instead

×   Your previous content has been restored.   Clear editor

×   You cannot paste images directly. Upload or insert images from URL.

 Share