ftn-axia80

ROS integration for SCHUNK FTN-AXIA80-DUAL SI-200-8/SI-500-20 force/torque sensor.

Prerequisites

How to setup

Clone the ftn_axia80 package into your catkin workspace.

In ftn_axia.py , set the IP-adress of your gripper.

Default IP 192.168.1.1, default port 49151.

Build and source your workspace.

How to run

run the sensor node with

rosrun ftn_axia80 ftn-axia-publisher.py

or inside your custom launch file.

How to use

Inside custom python script

import rospy
from geometry_msgs.msg import Wrench

# get most recent FT-value
wrench = rospy.wait_for_message("/ftn_axia", Wrench)

# get continous stream of values
wrench_client = rospy.Subscriber("/ftn_axia", Wrench, wrench_cb)

def wrench_cb(data):
	read_wrench = data
	# do something

ToDo

• create launch file with args