Gazebo Plugin emulating the yarp device exposing a 6 axis force-torque sensor. More...

#include <ForceTorque.hh>

Inheritance diagram for gazebo::GazeboYarpForceTorque:

Collaboration diagram for gazebo::GazeboYarpForceTorque:

Public Member Functions
	GazeboYarpForceTorque ()

virtual	~GazeboYarpForceTorque ()

virtual void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)

Detailed Description

Gazebo Plugin emulating the yarp device exposing a 6 axis force-torque sensor.

This plugin instantiate a yarp 6-axis force torque sensor driver for the Gazebo simulator and instantiate a network wrapper (provided by yarp::dev::AnalogWrapper) to expose the sensor on the yarp network.

It can be configurated using the yarpConfigurationFile sdf tag, that contains a Gazebo URI pointing at a yarp .ini configuration file containing the configuration parameters of the sensor.

The parameter that the yarpConfigurationFile should contain are:

Parameter name	Type	Units	Default Value	Required	Description	Notes
name	string	-	See yarp::dev::AnalogWrapper	No	Robot name, used to form the prefix for the opened ports.
period	int	ms	See yarp::dev::AnalogWrapper	No	Update period (in ms) of yarp port that publish the measure.

If this parameters are not specified, their value will be the default one assigned by the yarp::dev::AnalogWrapper .

The port opened by the yarp::dev::AnalogWrapper will be:

Port name	Description
{name}	Port streaming the measure
{name}/rpc:i	RPC Port

Constructor & Destructor Documentation

◆ GazeboYarpForceTorque()

gazebo::GazeboYarpForceTorque::GazeboYarpForceTorque ( )

◆ ~GazeboYarpForceTorque()

gazebo::GazeboYarpForceTorque::~GazeboYarpForceTorque ( )

virtual

Member Function Documentation

◆ Load()

void gazebo::GazeboYarpForceTorque::Load	(	sensors::SensorPtr	_sensor,
		sdf::ElementPtr	_sdf )