A ROS package for JR3 force/torque sensors with (so far) very basic functionality:

• rosjr3: Node publishing F/T data of one sensor as WrenchStamped-message
• rosjr3two: Node publishing F/T data of two sensors as WrenchStamped-messages

Published topics:

• rosjr3: jr3ft (geometry_msgs/WrenchStamped)
• rosjr3two:
  • jr3ft0 (geometry_msgs/WrenchStamped)
  • jr3ft1 (geometry_msgs/WrenchStamped)

Parameters:

• rosjr3 & rosjr3two:
  • rate (int, default: 1000): Sampling rate [Hz]
  • full_scales (std::vector, default: [100, 100, 200, 5, 5, 5]): Sensor's full scales [N, N, N, Nm, Nm, Nm]
  • num_filter (int, default: 0): Filter number (0-6)
• rosjr3 only:
  • num_sensor (int, default: 0): Sensor number (0, 1), if supported by DSP board

To test the package, run:

• roslaunch rosjr3 rosjr3.launch (one sensor)
• roslaunch rosjr3 rosjr3two.launch (two sensors)

The driver used for interfacing the JR3 force/torque sensor's DSP board (PCI) can be found here: https://github.com/roboticslab-uc3m/jr3pci-linux