Contains code for working with a wrist-mounted NetFT force/torque sensor.

Usage

netft_zeroing.py processes the Wrench messages broadcast by the netft_rdt_driver package to remove the forces due to gravity. The calibration procedure is automated on a wrist mounted PR2 netft sensor by incrementally sampling forces with various orientations of the gripper. A parameter file is fed to the utility (examples in the params folder) and output parameters are written back to it.

Show help options:

rosrun hrl_netft netft_zeroing.py --help
# describes the options available for the script

Quick Start

Training a Tool

roslaunch hrl_phri_2011 phri_netft_tracking.launch
roscd hrl_phri_2011
cp params/ft_zero_params_scratcher_tool.yaml params/ft_zero_params_$tool$_tool.yaml
vim params/ft_zero_params_$tool$_tool.yaml
# Edit wrench_location_frame to be "/$tool$"
roslaunch hrl_netft netft_zero_train.launch tool:=$tool$
# Hit enter to collect sample (stay still)
# Type "d" and hit enter to finish
# Collect at least 20 samples

Running the Zeroing Node

roslaunch hrl_phri_2011 phri_netft_tracking.launch
roslaunch hrl_netft netft_zero_run.launch tool:=$tool$