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This package has not been reviewed, so the API documented below should be considered unstable. Also, this package has not been user-tested, so there may be usability issues with the nodes.


Please see the finger tip pressure sensors we are simulating on the PR2 hardware.

Note: All nodes assume that <gripper_motor_name> is either r_gripper_motor or l_gripper_motor.


Publishes sensor geometry, tf frame and unit scaling information.

Subscribed Topics

"l_gripper_l_finger_tip_bumper/state" (gazebo_plugins/ContactState) "l_gripper_r_finger_tip_bumper/state" (gazebo_plugins/ContactState) "r_gripper_l_finger_tip_bumper/state" (gazebo_plugins/ContactState) "r_gripper_r_finger_tip_bumper/state" (gazebo_plugins/ContactState)

Published Topics

/pressure/<gripper_motor_name>_info (fingertip_pressure/PressureInfo)

Launch files

To test this node:

rosrun pr2_fingertip_contact_translator pr2_fingertip_contact_translator.py

2020-02-15 13:00