Source code for morse.middleware.ros.force_torque
import logging; logger = logging.getLogger("morse." + __name__)
from geometry_msgs.msg import Wrench
from morse.middleware.ros import ROSSubscriber
[docs]class WrenchReader(ROSSubscriber):
""" Subscribe to a Wrench topic and set force and torque (x,y,z) local data. """
ros_class = Wrench
[docs] def update(self, message):
self.data["force"][0] = message.force.x
self.data["force"][1] = message.force.y
self.data["force"][2] = message.force.z
self.data["torque"][0] = message.torque.x
self.data["torque"][1] = message.torque.y
self.data["torque"][2] = message.torque.z
logger.debug("Applying force: [%s, %s, %s], torque: [%s, %s, %s]"%
(message.force.x, message.force.y, message.force.z,
message.torque.x, message.torque.y, message.torque.z))