Description

This package is dealing with the detection of a contact with a force sensor. This is a preliminary version, in which the non-contact state is defined by the standard deviation of the signal recorded during a given period of time. Then if the signal goes beyound k standard deviations, a contact is detected.

instructions

Launch

We assume is force information is being published.

Basic example

rosrun contact_detection contact_detection_node.py wrench:=/optoforce_node/wrench_IRE0A004

This program is just printing on the screen when a contact is perceived

Using action mechanisms

The following command is lauching the server

rosrun contact_detection contact_detection_action_server.py wrench:=/optoforce_node/wrench_IRE0A004

An illustration of client is present in file script/contact_detection_action_client.py

rosrun contact_detection contact_detection_action_client_node.py

Pending improvements

The current setup is currently designed to detect the initial contact. It is not designed yet for detecting when the sensor reading is stabilized.

Another improvement would be to enable some parameter definition either from the action goal or from the ros param mechanism.