Expose tool transformation for FT sensor - #603
Conversation
JohnTGZ
left a comment
JohnTGZ
left a comment
There was a problem hiding this comment.
We would also need to update the commit hash in flowstate/flowstate.repos to point to the new commit. I think we can do that once we merge intrinsic-ai/sdk-ros#138
| double pitch = 5; | ||
| double yaw = 6; | ||
| } | ||
|
|
There was a problem hiding this comment.
We should update the default configs at flowstate/aic_flowstate_ros_bridge/aic_flowstate_ros_bridge_default_config.pbtxt too.
There was a problem hiding this comment.
I defaulted them to 0s for now to keep it standardized with how ICON reports it. We might need to do some testing before finalizing the config for AIC. I'll open another PR with those updates once with a participant policy.
There was a problem hiding this comment.
Updated commit hash after the merge
516bfe9 to
ab3d0ca
Compare
|
I have tested and verified the tool transformation. Merging it in |
2 participants
Summary
This PR updates the
aic_flowstate_ros_bridgeconfiguration schema to support the newly added Force/Torque sensor tool transformation feature from upstreamsdk-ros. Related to : intrinsic-ai/sdk-ros#138By exposing these fields, we can mathematically shift and rotate the F/T sensor wrench into the tool's coordinate frame (e.g.
ati/tool_link) directly from Flowstate, mimicking the hardware tool transformation capabilities found in physical EtherCAT setups.Changes
aic_flowstate_ros_bridge.proto: Added theToolTransformationConfigmessage (x, y, zin meters,roll, pitch, yawin degrees) to match the upstream definition.aic_flowstate_ros_bridge_main.cpp: Added parameter unpacking logic to readforce_torque_tool_transformfrom theruntime_config.pband emplace it as astd::vector<double>parameter. This ensures the parameter is correctly passed to the dynamically loadedFlowstateROSBridgeplugin.Dependencies
Requires the corresponding
sdk-rosPR which implements the Eigen mathematical transformations insideWorldBridge.