ATIForceSensorROSDriver

The ROS package for ATI force torque sensor.

System Requirement

1. ROS Noetic
2. Python3.8

Run

Remeber to set up the workspace every time opening a new terminal.

In one terminal

roscore

In another terminal

rosrun ati_sensor_ros_driver ati_driver.py

If you want to visualize the wrench measure,

1. open rviz.
2. Change the frame to ati_frame
3. Add -> By topic -> ati_ft

You should be seeing an pink arrow point to the total force direcion and a yellow arrow and circle illustrating the total torque.

ROS Service

Set tare

In one terminal

rosservice call /set_ati_tare

Clear tare

In one terminal

rosservice call /clear_ati_tare

Generally you will not clear the tare.