Re: [PlayerStage-Gazebo] Force Sensor using slider joint and opaque interface

[Benjamin Kloster <benkloster@go...>]

Hi,
I can't verify right now (not at work), but I think you have to add a
<providefeedback>true</providefeedback> tag somewhere inside your
joint:slider tag. Let me know if you still have problems. If so, I will try
and get an example from our server next time I'm at a PC with an ssh client.

Good luck,
Ben

2008/12/23 Bassam Jalgha <bfj00@...>

> Hello,
> I am using Gazebo SVN.
>
> I want to create a model of a unidirectional force sensor. I have seen
> in a previous post that the best way to do it is to create a slider
> joint and then get the force information from there.
> In order to get the joint force information i have used the jointforce
>  controller and the opaque interface.
>
> here is that part of my world file:
>
>   <joint:slider name="slider_sensor">
>     <body1>base_body</body1>
>     <body2>sensor_body</body2>
>     <anchor>sensor_body</anchor>
>
>     <axis>0 0 1</axis>
>     <lowStop>0</lowStop>
>     <highStop>0.07</highStop>
>     <erp>0.3</erp>
>     <cfm>0.8</cfm>
>   </joint:slider>
>
>
> <controller:jointforce name="joint_force">
>         <joint: name="slider_sensor"/>
>         <interface:opaque name="force_iface_0"/>
> </controller:jointforce>
>
> Then in my libgazebo client code i am connecting successfully to
> OpaqueIface but  if i output OpIface->data->data_count i get a zero.
> and i am getting blank data with OpIface->data->data[anything].
>
> Please help me out and tell me where i am doing wrong.
> let me know if there is anything similar to what i am doing already
> available
>
> Thank you
> Bassam Jalgha
>
>
>
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[PlayerStage-Gazebo] Force Sensor using slider joint and opaque interface

[Bassam Jalgha <bfj00@au...>]

Hello,
I am using Gazebo SVN.

I want to create a model of a unidirectional force sensor. I have seen  
in a previous post that the best way to do it is to create a slider  
joint and then get the force information from there.
In order to get the joint force information i have used the jointforce  
  controller and the opaque interface.

here is that part of my world file:

   <joint:slider name="slider_sensor">
     <body1>base_body</body1>
     <body2>sensor_body</body2>
     <anchor>sensor_body</anchor>

     <axis>0 0 1</axis>
     <lowStop>0</lowStop>
     <highStop>0.07</highStop>
     <erp>0.3</erp>
     <cfm>0.8</cfm>
   </joint:slider>


<controller:jointforce name="joint_force">
         <joint: name="slider_sensor"/>
         <interface:opaque name="force_iface_0"/>
</controller:jointforce>

Then in my libgazebo client code i am connecting successfully to  
OpaqueIface but  if i output OpIface->data->data_count i get a zero.  
and i am getting blank data with OpIface->data->data[anything].

Please help me out and tell me where i am doing wrong.
let me know if there is anything similar to what i am doing already available

Thank you
Bassam Jalgha