ForceTorqueSensor: add API for newest measurement #449
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This allows the most recent Wrench message to be accessed via the API instead of only via gz-transport. Signed-off-by: Steve Peters <[email protected]>
scpeters
commented
Jul 19, 2024
src/ForceTorqueSensor.cc
Outdated
| @@ -247,7 +250,7 @@ bool ForceTorqueSensor::Update(const std::chrono::steady_clock::duration &_now) | |||
| applyNoise(TORQUE_Y_NOISE_N_M, measuredTorque.Y()); | |||
| applyNoise(TORQUE_Z_NOISE_N_M, measuredTorque.Z()); | |||
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| msgs::Wrench msg; | |||
| msgs::Wrench &msg = this->dataPtr->measuredWrench; | |||
| *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now); | |||
| auto frame = msg.mutable_header()->add_data(); | |||
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there is an issue here; working on a fix
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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 <[email protected]>
iche033
approved these changes
Jul 23, 2024
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🎉 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.