mmurooka / McRtcTactileSensorPlugin

mc_rtc plugin to use tactile sensor in controller via ROS interface

McRtcTactileSensorPlugin

mc_rtc plugin to use tactile sensor in controller via ROS interface

Install

Requirements

• Compiler supporting C++17
• Tested on Ubuntu 20.04 / ROS Noetic

Dependencies

• mc_rtc
• isri-aist/MujocoTactileSensorPlugin (Install as a ROS package)
• ros-${ROS_DISTRO}-eigen-conversions

Installation procedure

# Load the ROS setup file so that the `mujoco_tactile_sensor_plugin` package can be found
$ mkdir ${HOME}/src && cd ${HOME}/src
$ git clone [e-mail]:isri-aist/McRtcTactileSensorPlugin.git --recursive
$ cd McRtcTactileSensorPlugin
$ mkdir build && cd build
$ cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ make
$ make install

Plugins

TactileSensor

This plugin receives tactile sensor data via ROS topic and sets wrench on the robot's force sensor in mc_rtc controller.

See this page for a general tutorial on configuring mc_rtc plugins.

Put the following line in the mc_rtc configuration (e.g. ${HOME}/.config/mc_rtc/mc_rtc.yaml).

Plugins: [TactileSensor]

Put the following lines in the plugin configuration (e.g. ${HOME}/.config/mc_rtc/plugins/TactileSensor.yaml).

sensors:
  - topicName: /mujoco/tactile_sensor
    tactileSensorFrameName: jvrc1_right_elbow_tactile_sensor
    forceSensorName: RightElbowForceSensor

The above configuration assumes a ROS topic named /mujoco/tactile_sensor with a message of type mujoco_tactile_sensor_plugin/TactileSensorData being published by some node (e.g. isri-aist/MujocoTactileSensorPlugin). The tactile sensor frame (e.g. jvrc1_right_elbow_tactile_sensor) must be defined in a URDF model (e.g. jvrc_description/urdf/jvrc1.urdf). The force sensor (e.g. RightElbowForceSensor) must be defined in robot module (e.g. mc_rtc/src/mc_robots/jvrc1.cpp).