Net F/T Sensor Driver

This is meta-package that contains ROS2 software for reading the data from F/T sensors with RDT communication interface such as: ATI F/T sensors, OnRobot F/T sensors.

• net_ft_driver: A ros2_control hardware interface for F/T sensor.
• net_ft_diagnostic_broadcaster: A ros2_controller for broadcasting a diagnostic data from the F/T sensor.
• net_ft_description: A package containing F/T sensors' description files.

Currently this package supports only following F/T sensors:

• OnRobot HEX series
• ATI AXIA series
• ATI Net F/T series

Software was tested with ATI AXIA80 and OnRobot HEX-E V2 and ATI Net F/T series.

Installation

Installing dependencies:

sudo apt update
rosdep update
git -C src clone --branch humble https://github.com/gbartyzel/ros2_net_ft_driver.git
rosdep install --ignore-src --from-paths src -y -r --rosdistro $ROS_DISTRO

Remeber to install the packages of ros2_control:

sudo apt install ros-$ROS_DISTRO-ros2-control ros-$ROS_DISTRO-ros2-controllers

Build the package:

colcon build --symlink-install
source install/local_setup.sh

Running

Launch the controller:

ros2 launch net_ft_driver net_ft_broadcaster.launch.py ip_address:=192.168.1.1 sensor_type:=ati_axia80 rdt_sampling_rate:=500 use_physical_hardware:=false

where:

• ip_address: the IP address of the F/T sensor.
• sensor_type: the sensor type, select one of ati, ati_axia80, onrobot.
• rdt_sampling_rate: the sampling rate of the RDT communication, please refer to the sensor manuals for the frequency range.
• use_physical_hardware: whether to use the physical device.
• use_hardware_biasing: whether to use built-in sensor biasing.