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
sudo apt dist-upgrade
rosdep update
git -C src clone --branch galactic https://github.com/gbartyzel/ros2_net_ft_driver.git
sudo apt install -y libasio-dev libcurlpp-dev
rosdep install --ignore-src --from-paths src -y -r --rosdistro $ROS_DISTRO

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_axia rdt_sampling_rate:=500

where:

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

Contributing

Thank you for wanting to contribute to the net_fr_driver, all changes and suggestions are welcome. If you have access to sensors that have not been mentioned in REAMDME.md, I encourage you to implement the appropriate interface based on the NetFTInterface class and then submit a PR. In addition, each test is welcome. If you find a bug in the code, I invite you to report an Issue or PR that fixes it.

This package runs pre-commit in the CI. It is adviced to setup this tool localy and use it automatically before commiting. To install, use pip:

pip install pre-commit

To run it over all files in the project manually:

pre-commit run a

To setup pre-commit for running automatically before commiting, install git-hooks:

pre-commit install

This package is integrated with pre-commit. It is prefered to setup this tool localy

Licensing

Any contribution that you make to this repository will be under the 3-Clause BSD License, as dictated by that license.