pip3 install optoforce
- Check the name of the serial port into which your Optoforce sensor is plugged by using
python3 list_ports.py. - Change the parameters values in config/optoforce_params.yaml file. Calibration data (scale parameter) to convert the sensor's readings into force expressed in Newtons can be found on the flash drive that comes with the sensor.
- Verify that the sensor is working properly by running
ros2 launch optoforce_wrapper optoforce_test.launch.py. In RViz, the sensor model and force readings (as geometry_msgs/msg/WrenchStamped messages) will be visualized. - To read the measurements from the sensor(-s) you need to run optoforce_node node and load the parameters from the YAML file. Use the command below. By default one sensor will be used, if you want to use two sensors, set the value of num_of_sensors_in_use argument to 2 (
num_of_sensors_in_use:=2).
ros2 launch optoforce_wrapper optoforce_read.launch.py
In 2018, Optoforce was acquired by OnRobot. The links to Optoforce's website redirect to Onrobot's website, where the Page not found (404) error appears, so don't be surprised 😉