neemoh/sigma7

ROS node interfacing with force dimension sigma7 devices

Force Dimension Sigma ROS Node

This ros node interfaces with a Force Dimension Sigma master device.

Topics

The following topics under the name space /sigma/sigma<device_number>/ are published to:

• /pose type:PoseStamped - Cartesian pose of the end effector.
• /buttons type:Joy - Contains the states of two buttons of sigma. First is the gripper button emulation, and second is the foot pedal.
• /twist type:TwistStamped - Cartesian velocities of the end-effector

The following topic is subscribed to:

• /force_feedback type:WrenchStamped - Receives wrench information and when the foot pedal is pressed it sends the wrenches to the sigma device. Note that you can lock the orientation of the end-effector (useful in tele-operation) when the foot-pedal is released if you set the lock_orientation parameter as true.

Parameters

• frequency defines the node's refresh rate
• enable_gripper_button enable the emulated gripper button of sigma
• lock_orientation flag to lock the orientation of the end-effector when the foot pedal is released.
• wrench_topic String defining the topic name for the wrench message to which this node subscribes