netft

This is a ROS metapackage for the ATI NET/FT box that is used to connect to ATI F/T sensor.

Compatibility

The master branch is compatible with:

• ROS Hydro
• ROS Indigo
• ROS Kinetic

Requirements

Install curl manually:

sudo apt-get install libcurl4-openssl-dev

Usage

Use the ROS node in the package as a stand-alone node for publishing F/T information. E.g.:

rosrun netft_control netft_node --address 192.168.1.1

The NET/FT box defaults to 192.168.1.1 as its ip address but this can be changed using the browser-based interface.

See a more detailed tutorial here: http://wiki.ros.org/netft_rdt_driver/Tutorials/RunningNetFTNode

ros-control Hardware Interface

For applications that require to read from the netft within ros-control, there is an implementation that uses a hardware_interface::ForceTorqueSensorInterface and a force_torque_sensor_controller::ForceTorqueSensorController.

For this, there are two convenient launch files:

roslaunch netft_control netft_ros_driver.launch ip:=192.168.1.1
roslaunch netft_control ros_controllers.launch