The purpose of this package is to provide standard interface for robot hardwares. Controllers using those standard interfaces do not need to assume any particular robot hardware. For example, our force_control package can be used with either an ABB robot or a UR robot. Currently supporting the following interfaces:
- Position controlled robot arm
- 6-dof force torque sensor
Current implementations includes (see robots/):
- UR robot rtde communication;
- ATI force torque sensor via netft;
Author: Yifan Hou yifanhou@stanford.edu
This package depends on cpplibrary.
Additionally, the ur_rtde module is dependent on UR rtde c++ library The arx_can module is dependent on the arx c++ sdk.
Build and install with cmake.
cd hardware_interfaces
mkdir build && cd build
cmake ..
make -j
make install