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Provide force-torque sensor data through gz_system to controller_manager #273
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sim::Entity sim_ft_sensors_ = sim::kNullEntity; | ||
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/// \brief An array per FT | ||
std::array<double, 6> ft_sensor_data_; |
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include <array>
} | ||
} | ||
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static const std::map<std::string, size_t> interface_name_map = { |
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include <cstddef>
Rebased to Can confirm everything works as expected:
Echoed In my opinion, this feature can be merged after rebasing branch to master |
This PR provides force-torque sensor data to Gazebo's controller_manager in a similar way to how the IMU data is currently provided. I made this change in order to test the ros2_controllers' admittance_controller in Gazebo/Ignition 6.16.0.