This ros node interfaces with a Force Dimension Sigma master device.
The following topics under the name space /sigma/sigma<device_number>/ are published to:
- /pose type:PoseStamped - Cartesian pose of the end effector.
- /buttons type:Joy - Contains the states of two buttons of sigma. First is the gripper button emulation, and second is the foot pedal.
- /twist type:TwistStamped - Cartesian velocities of the end-effector
The following topic is subscribed to:
- /force_feedback type:WrenchStamped - Receives wrench information and when the foot pedal is pressed it sends the wrenches to the sigma device. Note that you can lock the orientation of the end-effector (useful in tele-operation) when the foot-pedal is released if you set the lock_orientation parameter as true.
- frequency defines the node's refresh rate
- enable_gripper_button enable the emulated gripper button of sigma
- lock_orientation flag to lock the orientation of the end-effector when the foot pedal is released.
- wrench_topic String defining the topic name for the wrench message to which this node subscribes