sensors_ros

ROS sensor interface implementations.

This module defines ROS-backed sensor wrappers used by RobotBlockSet sensor interfaces. It provides force-torque state subscriptions and raw wrench access through ROS topics.

class robotblockset.ros.sensors_ros.ati_ft_ros(namespace: str = '', **kwargs: Any)[source]

Bases: force_torque_sensor

ROS interface for an ATI force-torque sensor.

Attributes:

  • _namespace (str) – ROS namespace prefix used to resolve the sensor topic.

  • _topic_FT (str) – Topic used to subscribe to raw wrench data.

Initialize the ATI force-torque sensor ROS wrapper.

Parameters:

  • namespace (str, optional) – ROS namespace prefix used to resolve the sensor topic.

  • **kwargs (Any) – Additional keyword arguments reserved for future use.

__init__(namespace: str = '', **kwargs: Any) → None[source]

Initialize the ATI force-torque sensor ROS wrapper.

Parameters:

  • namespace (str, optional) – ROS namespace prefix used to resolve the sensor topic.

  • **kwargs (Any) – Additional keyword arguments reserved for future use.

GetRawFT() → ndarray[source]

Return the latest raw force-torque measurement.

Returns:

Latest raw force-torque sample.

Return type:

WrenchType

Notes

The most recent ROS wrench message is converted into the RobotBlockSet sensor-data format.

Classes

ati_ft_ros([namespace])

ROS interface for an ATI force-torque sensor.