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Joint Force-Torque Systems Plugin #977

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merged 13 commits into from
Sep 22, 2021
Merged

Joint Force-Torque Systems Plugin #977

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85614fc
Force Torque Plugin
chawladevansh Aug 17, 2021
d495f1d
populating FT values - fix
chawladevansh Aug 17, 2021
4c4baeb
updated code
chawladevansh Aug 17, 2021
c64f2c5
Make SdfEntityCreator consider ForceTorque sensors
mjcarroll Aug 17, 2021
d15dac3
deleted jointTorque plugin
chawladevansh Aug 18, 2021
1525356
testing jointForce compoment
chawladevansh Aug 19, 2021
223c736
Fixed parent component joint FT values
chawladevansh Aug 19, 2021
3e17119
Rebase on main, add test
azeey Sep 22, 2021
f691709
Compute force/torque in the sensor frame
azeey Sep 22, 2021
74d923e
Merge remote-tracking branch 'upstream/main' into force_torque
azeey Sep 22, 2021
54793e9
Address reviewer feedback
mjcarroll Sep 22, 2021
4c79e65
Alphabetize CMakeLists
mjcarroll Sep 22, 2021
4164499
Fix sign error when computing torque, set X_SC only once since it
azeey Sep 22, 2021
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updated code
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@chawladevansh @azeey
chawladevansh authored and azeey committed Sep 22, 2021
commit 4c4baebe174c2312b6212fcc942b6c3945f5bc7d
12 changes: 3 additions & 9 deletions src/systems/force_torque/ForceTorque.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@

#include "ignition/gazebo/components/ForceTorque.hh"
#include "ignition/gazebo/components/JointForce.hh"
#include "ignition/gazebo/components/JointTorque.hh"
#include "ignition/gazebo/components/Joint.hh"
#include "ignition/gazebo/components/Name.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/ParentEntity.hh"
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Expand Down Expand Up @@ -134,10 +134,9 @@ void ForceTorquePrivate::CreateForceTorqueEntities(EntityComponentManager &_ecm)
}

// Create FT Sensors
_ecm.EachNew<components::ForceTorque, components::ParentEntity>(
_ecm.EachNew<components::ForceTorque>(
[&](const Entity &_entity,
const components::ForceTorque *_ft,
const components::ParentEntity *_parent)->bool
const components::ForceTorque *_ft)->bool
{
// create sensor
std::string sensorScopedName =
Expand All @@ -160,11 +159,6 @@ void ForceTorquePrivate::CreateForceTorqueEntities(EntityComponentManager &_ecm)
return true;
}

// set sensor parent
std::string parentName = _ecm.Component<components::Name>(
_parent->Data())->Data();
sensor->SetParent(parentName);

// Set topic
_ecm.CreateComponent(_entity, components::SensorTopic(sensor->Topic()));

Expand Down