How to read tactile sensor data from gazebo ?

asked 2019-04-17 01:44:43 -0600

microbot
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updated 2019-04-17 03:05:39 -0600

jayess
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I am working on a small project where I have to develop a custom control plugin and test it on gazebo simulation. In my Gazebo robot model I am using sr_tactile-sensors, Now I need to use that sensor output in my custom control plugin, can anyone suggest me how to do that ? I am quite new to qazebo. I am writing my control plugin in python. Would be really helpful if you can point me in the direction where I can find details about the same, I have been trying to google it myself. Thanks in advance.

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If you check the sr_tactile_sensors wiki page, it shows what topics that package publishes. Is that what you're asking or are you asking how to subscribe to those topics?

jayess ( 2019-04-17 03:07:51 -0600 )edit

yea exactly, I am asking how to subscribe them

microbot ( 2019-04-17 04:35:25 -0600 )edit

You should go through the beginner tutorials and see if this helps. If it doesn't, then please update your question with a copy and paste of your code and any errors that may arise, along with what you don't understand.

jayess ( 2019-04-17 06:10:54 -0600 )edit

Thank you for the tutorial. Although I have seen it before, I have not understood how to write the similar listener for sr_tactile_sensors, so as far as I understand i should import sensor_msgs package and then the specific sr_tactile_sensors package aswell and then use those pre-defined commands to access the sensor data ? or should I write a specific code for it ? I have not startd writing the code for this particular part as I am still confused and did not know where to start this. Thank you in advance.

microbot ( 2019-04-17 06:48:59 -0600 )edit

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#!/usr/bin/env python import rospy from std_msgs.msg import Float64 def callback(msg): # log the message data to the terminal rospy.loginfo("The value is %d", msg.data) def listener(): # start the node rospy.init_node("listener") # subscribe to the '/sr_tactile/touch/ff' topic tactile_sub = rospy.Subscriber("/sr_tactile/touch/ff", Float64, callback) # keep python from exiting until this node is stopped rospy.spin() if __name__ == '__main__': listener()

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Thank you very much, this is indeed helpful.

microbot ( 2019-04-20 16:48:03 -0600 )edit

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How to read tactile sensor data from gazebo ?

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