Package containing reference data for initial dev
The wrench information is read from a csv file, and is then published as a wrench stamped.
The csv file contains the pose and the wrnch measured by the two objects.
Update frequency: 1000 Hz.
A launch file is created to launch the data stored in a csv file.
roslaunch ibd_test_data pub_fake_data.launch
All dynamic parameters can be set through the command line:
rosrun ibd_test_data wrench_from_csv _[param_name]:=[new_value]
csv_file (std::string, default: "Undef")
csv file containing wrench information to publish
inc (int, default: 1)
from the wrench measure, increment applied at each publication loop
A topic can be remapped from the command line:
rosrun ibd_test_data wrench_from_csv [old_name]:=[new_name]
wrench (geometry_msgs::WrenchStamped)
emulated wrench measure
looping (std_msgs::Empty)
indicates when is looping on the data
Update frequency: 1000 Hz.
A topic can be remapped from the command line:
rosrun ibd_test_data bridge_wrench_action [old_name]:=[new_name]
looping (std_msgs::Empty)
to be informed when we are looping on the scv data
Any action client direaction can be readjusted at node launch:
rosrun ibd_test_data bridge_wrench_action _[old_name]_remap:=[new_name]
ibd_learn (force_teaching_msgs::TeachIbDForce)
to launch the learning of the forces