nicoros - OptoforceMultichannel¶
The OptoforceMultichannel class allows to send the Optoforce data from a device with multiple sensors through ROS.
To start the interface run:
rosrun nicoros OptoforceMultichannel.py
Exposed topics¶
The following ROS services are exposed by the class - where $PREFIX stands for the prefix of the topics/services (Default: /nico/optoforce/$SERIAL where $SERIAL is the serial number of the sensor) and $CHANNEL is an identifier for the sensor:
ROS topic name |
Message type |
Short description |
|---|---|---|
$PREFIX/raw/$CHANNEL |
nicomsg/fff |
raw sensor data |
$PREFIX/newton/$CHANNEL |
nicomsg/fff |
sensor data in newton (only if conversion values known) |