ForceTorqueSensor: add API for newest measurement#449
Merged
Conversation
This allows the most recent Wrench message to be accessed via the API instead of only via gz-transport. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
scpeters
commented
Jul 19, 2024
src/ForceTorqueSensor.cc
Outdated
| msgs::Wrench msg; | ||
| msgs::Wrench &msg = this->dataPtr->measuredWrench; | ||
| *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now); | ||
| auto frame = msg.mutable_header()->add_data(); |
Member
Author
There was a problem hiding this comment.
there is an issue here; working on a fix
Member
Author
There was a problem hiding this comment.
it was adding a new key-value pair for the "frame_id" to the header map at every timestep. I've changed it in 738a9da to allocate the key-value pair in the constructor and update it at each timestep instead
Allocate the key-value pair in the constructor and update it for each measurement. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
iche033
approved these changes
Jul 23, 2024
9 tasks
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
🎉 New feature
Needed for gazebosim/gz-sim#2268 and gazebosim/gz-sim#2391.
Summary
Currently the wrench data published by gz-transport is not available via the C++ API. This pull request adds an accessor to the most recent
Wrenchmessage that is identical to that published on gz-transport.Test it
Build and run
bin/INTEGRATION_force_torqueChecklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.