Driver for the Bota Systems™ force/torque sensors. Generic force/torque sensor acquisition interface.

Ports

wrench (out)

Data structure

  • struct ::or_wrench_estimator::state wrench

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::rb3d::force > force

      • double x

      • double y

      • double z

    • optional< struct ::or::rb3d::force_cov > force_cov

      • double cov[6]

    • optional< struct ::or::rb3d::torque > torque

      • double x

      • double y

      • double z

    • optional< struct ::or::rb3d::torque_cov > torque_cov

      • double cov[6]

Sensor force and torque data.

Data is published in the frame specified by set_sensor_frame (function).

frame (multiple out)

Data structure

  • struct ::or_wrench_estimator::state frame

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::rb3d::force > force

      • double x

      • double y

      • double z

    • optional< struct ::or::rb3d::force_cov > force_cov

      • double cov[6]

    • optional< struct ::or::rb3d::torque > torque

      • double x

      • double y

      • double z

    • optional< struct ::or::rb3d::torque_cov > torque_cov

      • double cov[6]

Same sensor data as port wrench (out), mapped in a different frame.

See export_frame (activity) for exporting new frames.

Services

get_ft_filter (function)

Outputs

  • double ffc[3] Force X,Y,Z cut-off frequencies

  • double tfc[3] Torque X,Y,Z cut-off frequencies

set_ft_filter (function)

Inputs

  • double ffc[3] Force X,Y,Z cut-off frequencies

  • double tfc[3] Torque X,Y,Z cut-off frequencies

set_sensor_frame (function)

Inputs

  • boolean intrinsic (default "1") World or body frame

  • double x

  • double y

  • double z

  • double yaw

  • double pitch

  • double roll

Change sensor reference frame

export_frame (activity)

Inputs

  • string<64> name

  • double x

  • double y

  • double z

  • double yaw

  • double pitch

  • double roll
Throws

  • exception ::fts::e_sys

    • short code

    • string<128> what
Context

Export sensor data with respect to a new frame.

The new frame is defined relative to the sensor frame, as defined by set_sensor_frame (function) (defaults to identity).

get_calibration (attribute)

Outputs

  • struct ::fts::ids::calibration_s calibration

    • double G[36]

    • double b[6]

hz (function)

Outputs

  • double hz
Throws

  • exception ::fts::e_notconn

Get actual sensor update rate (Hz)

tare (activity)

Inputs

  • double duration (default "2") Durection of the averaging
Throws

  • exception ::fts::e_notconn
Context

Zero out current sensor readings.

log (function)

Inputs

  • string<64> path (default "/tmp/wrench.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::fts::e_sys

    • short code

    • string<128> what

Log measured wrench in sensor frame.

log_frame (function)

Inputs

  • string<64> frame Frame name

  • string<64> path (default "/tmp/wrench.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::fts::e_sys

    • short code

    • string<128> what

Log measured wrench in specific frame

log_stop (function)

Stop all logging.

log_info (function)

Outputs

  • unsigned long miss Missed log entries

  • unsigned long total Total log entries

Show missed log entries

connect (activity)

Inputs

  • string<128> serial (default "/dev/ttyACM0") Serial device

  • unsigned long baud (default "460800") Baud rate (0 = don’t change)
Throws

  • exception ::botasys::e_sys

    • short code

    • string<128> what

  • exception ::botasys::e_nodev

  • exception ::botasys::e_baddev

  • exception ::botasys::e_inval
Context

Connect to the hardware

disconnect (activity)

Context

Disconnect from the hardware

raw_cmd (activity)

Inputs

  • string<32> cmd (default "") Raw sensor command
Throws

  • exception ::botasys::e_inval
Context

Configure

set_rate (activity)

Inputs

  • double rate (default "1000") Data update rate (Hz)
Outputs

  • double rate (default "1000") Data update rate (Hz)
Throws

  • exception ::botasys::e_baddev

  • exception ::botasys::e_inval
Context

Configure

Tasks

read

Context