This is to get data from leptrino FT sensor & publish it as a ros topic. This is only for Leptrino 6 DOF force-torque sensors (PFS080YS102U6S). Other type may have troube with using. PLEASE check your sensor type&number and if you use another type, compare this scripts to your official sample scripts!

How to use

1. Download/clone this repository
2. Check the port name of your comuter!
   1. run this pkg with roslaunch leptrino_ros_pkg leptrino.launch command
   2. if the pkg run successfully, fine. Your port name is the same with the default /dev/ttyACM0
   3. if the pkg failed to run, check your /dev/ file and find your port name there!
   4. change the port name in 46 line of leptrino_force_torque.cpp file
      std::string g_com_port = "/dev/ttyACM0";
      change /dev/ttyACM0 to your port name

Node

• leptrino: This script has only one node named leptrino. This node convert Force&Torque data to ros message type (geometry_msgs/WrenchStamped) and publish it to ros topic. The topic name is...
  • /leptrino/force_torque: when you run roslaunch leptrino_ros_pkg leptrino.launch
  • /force_torque: when you run rosrun leptrino_ros_pkg leptrino