ati_force_torque

ROS driver for ATI based force-torque sensors.

Note: Current version of the package depends on iirob/iirob_filters package for filtering capabilities. To install this package clone the git repository into src folder of your workspace

ROS Distro Support

	Kinetic	Melodic
Branch	melodic	melodic
Status
Version	version	version

Changelog for package ati_force_torque

1.1.1 (2020-02-25)

• Updated README with melodic description
• Added static_application parameter to example configs.
• Adapted namespace for sensor parameters
• Contributors: Denis Stogl

1.1.0 (2020-02-22)

• Addapted to changes in iirob_filters
• Merge pull request #9 from KITrobotics/updated_params Updated param names for can yaml and config node
• Added config files for config node
• Updated param names for can yaml and config node
• Contributors: Denis Štogl

1.0.1 (2018-12-11)

• Merge pull request #1 from KITrobotics/destogl-patch-1-1 Update README.md
• Update README.md
• Merge pull request #2 from KITrobotics/fts_restructuring FTS restructuring
• Update driver_socket.launch
• Update CMakeLists.txt
• Update .travis.rosinstall
• Update README.md
• Cleaned stuff moved to force_torque_sensor package
• Added plugin for ATI sensor
• Force Torque sensors restructuring
• Raw with fts (#18)
  • Removed dependecy on schunk_description (#6)
  • Removed dependecy on schunk_description
  • Added xacro dependency
  • changes for working raw with fts
  • some changes for namespace read
  • rosparam working
  • added cs calibration params
  • added necessary code for simulation
  • changes for simulation.need to be cleaned
  • changes in fthandle_sim
  • deleted prints
  • merged master branch with raw_with_fts
  • small changes in urdf
  • compatibility changes for iirob_fitlers
  • Use c++11 and update .travis
  • Update .travis.rosinstall
  • Updated compile files and some Sim files headers
  • made some changes
  • some more changes for PR
  • changes for PR
  • changed in fts.gazebo
  • changes for PR
  • changes for PR and added sim parameter
  • changes for working correctly with rosparam_handler
  • changes to work correctly with rosparam and real raw with fts
  • changes for working with real sensor and simulation
  • not depending on own rosparam_handler anymore
  • chages for simulation of sensor
  • using teleop not cob_teleop anymore
  • remapped to cmd_force
  • changed default values for easier debugging
  • small changes
  • changes to use unchanged sensor_offsets
  • added realtime publisher and working with iirob_led
  • changes to work with iirob led
  • some changes to work with rt publisher and iirob_led after test
  • changes for working with iirob filters after changing to plugin
  • changes in urdf file for correct description when using sensor with sr2
  • changes to work with filters pluginlib
  • moved ati ft for sr2 to sr2_bringup
  • undone small change in urdf
  • small change for sensor simulation
  • Update package.xml
  • Update package.xml
  • Removed iirob_led dependency.
  • working branch with iirob_filters
  • changes to work with wrench stamped as template
  • changes to work with iirob_filters moving mean filter
  • use rosparam handler for gravity compensator
  • changes to work with filters
  • Update sensor_mini58.urdf.xacro
  • Update driver_sim.launch
• Add param handler and simulation for sensor (#11) Added simulation support for the sensor. The data are inputed using joystick.
• Updated descriptions and meshes for Sensors. Added ATI Mini58 (#10)
• Remove schunk descr dep (#7)
  • Removed dependecy on schunk_description
  • Added xacro dependency
• Update .travis configs
• Update .travis configs
• Added missing packages for cob_driver
• Added cob_driver package and remove schunk_description dependency
• Use kinetic branch of iirob_filters
• Added kinetic ros-distro
• Update for tests
• Renamed rosinstall file for source dependencies
• Added travis config and updated readme
• Merge branch 'indigo-devel' of github.com:iirob/ati_force_torque into indigo-devel
• Removed schunk_description dependecy, sorted dependencies, added tests for lunch files
• working non-static calibration
• Added automatic calibration
• Added scripts for automatic calculation of offsets and tool CoG.
• Updated paramters names and CoG paramters
• Changed name of offsets paramters
• New service type for calibration and catching average masurements
• Corrected typo in launch files
• Added mutithreading in the node and reduced output of transformations erros. Now is every 100th error shown.
• Added publishing of movingmean filtered data.
• Merge branch 'indigo-devel' into kinetic-devel
• Renamed CMake constant EIGEN3->Eigen
• Added fts_reference_link as default sensor_frame
• Updated xacro and default world_frame
• Merge branch 'indigo-devel' into kinetic-devel
• Create README.md
• Merge branch 'indigo-devel' into kinetic-devel
• Optimisation of parameters
• Merge branch 'indigo-devel' into kinetic-devel
• Paramter name change
• Merge branch 'indigo-devel' into kinetic-devel
• Change of default paramter for future_baudrate and config to use fts_frame on default.
• Merge branch 'indigo-devel' into kinetic-devel
• Merge branch 'indigo-devel' of gitlab.ira.uka.de:iirob/ati_force_torque into indigo-devel
• Updated Eigen dependecy and restructured launch files
• Changed parameters. Removing empty lines.
• Cleaned and median -> moving_mean
• Cleaned and median -> moving_mean
• Updated names. Removed old files.
• Updated names. Removed old files.
• Updated licence header
• added filters to ATI included filters from iirob_filters
• Rename of package to ati_force_torque
• Rename of lunch files
• Refractoring of code and licence update.
• Convert config to defaults
• Merge branch 'master' of gitlab.ira.uka.de:iirob/ati_mini_45
• change params to work with new robot definition
• readd service for dynamic recalibration from other branch
• change config parameters to work with new robot layout
• Code cleaning before for publication. Needs to be tested.
• Updated dependencies
• Cleaned lunch file
• SocketCAN config updated
• Check for all return codes
• if no canType mentioned use default constructor
• updated to start
• New files for Socket can
• Extended for SocketCan
• Merge remote-tracking branch 'origin/alex' Conflicts: ros/src/fts_node.cpp
• Compile under indigo.
• Working GetTemperature Service
• Merge branch 'master' into alex
• safety commit before merge
• disabled calibration on init, customized launch & config files
• Correct compile errors
• Merge branch 'master' of gitlab.ira.uka.de:iirob/ati_mini_45
• config and launch
• Extension to read diagnostic ADC voltages
• added rviz (with config) to launchfile
• Working version
• Calibrate is new function now and called with initialisation
• Filter removed to extern node and added Transformation for FTS.
• Added filter topic. 1st-Order low-pass filter implemented.
• Code cleaning: remove marker publishing
• Finaly, won! Git vs Denis: 0:1
• Really wrong
• Added: status checking, reseting of sensor and some minor code edits
• Error handling
• Merge branch 'ati_baudrate' of gitlab.ira.uka.de:iirob/ati_mini_45 Conflicts: common/include/cob_forcetorque/ForceTorqueCtrl.h common/src/ForceTorqueCtrl.cpp config/can_ati.yaml ros/src/fts_node.cpp
• High rate, workable version, it seams that works really nice
• Added: config node and changed baudrate of FTS.
• wtf commit
• Added force transformation
• Some quite working version
• receiveMsg changed to recieveMsgRetry
• finished migration to tf2
• Migration to tf2
• Error correction: name changeing
• Changed package name
• Changed message type to geometry_msgs/Wrench
• Now read parameters form parameter server, correction of error
• Read paramter from parameter server
• Removed old files for CanESD which is now in cob_generic_can
• Added smo checking, easy changeble ID...
• Catknisation and first working version
• Initial commit
• Contributors: Alexander Pollmann, Andreea Tulbure, Denis Štogl, Format Bot, IIROB Praktikum 1, IPR-SR2, Timo Leitritz, andreeatulbure