System: ROS Kinetic, Optoforce Lib 2.0
By default, the node needs super user permissions to read from serial ports. However, running a rosnode with sudo makes things complicated, as sudo'd program doesn't access the environment variables. Hence, you should give the user access to serial ports as follows:
sudo usermod -a -G dialout $USERIn order to start the publisher:
roslaunch optoforce_publisher optoforce_publisher.launch frame_names:="[my_sensor1, my_sensor2, my_sensor3]"It will start the publisher node that publishes sensor readings to multiple geometry_msgs/WrenchStamped topics. The topic of the 0th sensor is named as optoforce_wrench_0. Others follow the same pattern. Torque component of the Wrench message is ignored, since the sensors only sense 3D force.
optoforce_publisher.launch takes few arguments:
zero: If true, sets the zero values of the sensors to the current readings at the beginning. Recommended.invert: If true, the force vectors will point outwards in RViz visualization.frame_names: TF frame names to assign at each optoforce wrench header.