The Force Dimension ROS2 node accepts commands and provides feedback data via ROS2 topics.
Topics are identified by fully-qualified ROS2 names.1
All fully-qualified topic names are prefixed with a
namespace. By default, the namespace for the
Force Dimension node is robot. In this documentation, the node namespace is
excluded, so that the fully-qualified topic name /robot/feedback/position
would here be referred to as feedback/position.
A subset of topics provide information about the state of the Force Dimension
robot. These topics are organized under the feedback relative namespace.
The following topics are currently implemented:
feedback/position: Carries Point messages that describe the current position of the robotic end-effector (as returned by the dhdGetPosition function of the Force Dimension SDK).feedback/velocity: Carries Vector3 messages that describe the current velocity of the robotic end-effector (as returned by the dhdGetLinearVelocity function of the Force Dimension SDK). See the Force Dimension documentation for velocity estimation.feedback/button: Carries Int32 messages that describe the current status of any buttons on a Force Dimension device. The data element of each such message is a 32-bit integer bitmask (as returned by the dhdGetButtonMask function of the Force Dimension SDK), where each bit is toggled when the corresponding button is pressed .feedback/gripper_gap: Carries Float64 messages that describe the current distance of the gripper opening in meters. See the dhdGetGripperGap function of the Force Dimension SDK documentation for further details.feedback/gripper_angle: Carries Float64 messages that describe the current distance of the gripper opening angle in radians. See the dhdGetGripperAngleRad function of the Force Dimension SDK documentation for further details.feedback/velocityfeedback/forcefeedback/orientation
Feedback topics can be decimated, in order to reduce the number of sent messages. See the parameters documentation for information about feedback decimation.