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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