Teaching of force magnitude during insertion by deformation
Update frequency: 200 Hz.
This node is using \tf to get transform information.
All dynamic parameters can be set through the command line:
rosrun ibd_force_teaching ibd_force_teaching _[param_name]:=[new_value]
wrench_window (int, default: 10)
number of samples used for detecting manipulation start or stop
wrench_std (double, default: 0.1)
maximum std used to detect manipulation limits
force_frame (string, default: "/force_sensor")
tf name of the sensor frame
receptacle_object_frame (string, default: "/static_object")
tf name of the object that will receive the clip (static object in unimanual experiment
A topic can be remapped from the command line:
rosrun ibd_force_teaching ibd_force_teaching [old_name]:=[new_name]
wrench (geometry_msgs::WrenchStamped)
Wrench measured by the sensor
A simple action launched can be obtained with:
rosrun actionlib axclient.py /do_action
Any action name can be readjusted at node launch:
rosrun ibd_force_teaching ibd_force_teaching _[old_name]:=[new_name]
learn (force_teaching_msgs::TeachIbDForce)
to launch the force learning