Provide force-torque sensor data through gz_system to controller_manager #273
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
ahcorde
requested changes
Apr 10, 2024
| sim::Entity sim_ft_sensors_ = sim::kNullEntity; | ||
|
|
||
| /// \brief An array per FT | ||
| std::array<double, 6> ft_sensor_data_; |
ahcorde
reviewed
Apr 10, 2024
| } | ||
| } | ||
|
|
||
| static const std::map<std::string, size_t> interface_name_map = { |
|
Rebased to Can confirm everything works as expected:
Echoed In my opinion, this feature can be merged after rebasing branch to master |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.