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Update FTS tcp and return FTS state parameters #32

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Update FTS tcp and return FTS state parameters #32

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85a9110
Update FTS tcp and return FTS state paramters
destogl Nov 10, 2020
3dfcc19
Use shorter name for example 4
destogl Feb 20, 2021
6a8927e
Let's simplify example FTS sensors.
destogl Feb 20, 2021
5221e7b
Update to use symetric range on FTS.
destogl Feb 20, 2021
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22 changes: 7 additions & 15 deletions design_drafts/components_architecture_and_urdf_examples.md
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Original file line number Diff line number Diff line change
Expand Up @@ -171,14 +171,10 @@ Note:
</joint>
<sensor name="tcp_fts_sensor">
<state_interface name="fx"/>
<state_interface name="fy"/>
<state_interface name="fz"/>
<state_interface name="tx"/>
<state_interface name="ty"/>
<state_interface name="tz"/>
<param name="frame_id">kuka_tcp</param>
<param name="lower_limits">-100</param>
<param name="upper_limits">100</param>
<param name="frame_id">rrbot_tcp</param>
<param name="fx_range">100</param>
<param name="tz_range">15</param>
</sensor>
</ros2_control>
```
Expand All @@ -190,7 +186,7 @@ Note:
* Examples: KUKA RSI and FTS connected to ROS-PC

```xml
<ros2_control name="RRBotSystemPositionOnlyWithExternalSensor" type="system">
<ros2_control name="RRBotSystemWithExternalSensor" type="system">
<hardware>
<plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
<param name="example_param_write_for_sec">2</param>
Expand Down Expand Up @@ -218,14 +214,10 @@ Note:
</hardware>
<sensor name="tcp_fts_sensor">
<state_interface name="fx"/>
<state_interface name="fy"/>
<state_interface name="fz"/>
<state_interface name="tx"/>
<state_interface name="ty"/>
<state_interface name="tz"/>
<param name="frame_id">kuka_tcp</param>
<param name="lower_limits">-100</param>
<param name="upper_limits">100</param>
<param name="frame_id">rrbot_tcp</param>
<param name="fx_range">100</param>
<param name="tz_range">15</param>
</sensor>
</ros2_control>
```
Expand Down