Is there a force topic available with ROS?

Hi,

In this article (https://www.universal-robots.com/articles/ur/programming/seek-using-force/) , a Polyscope program tests the return of the force() function to stop the robot.

Is it possible to write a Python script with ROS to do the same thing, I mean : to get the force values (from a topic ?) to stop the robot?

Best regards,

Philippe

By default, the driver starts an fts sensor controller that publishes /wrench. You can subscribe to that and abort the running trajectory based on a custom condition for the measured wrench. However, be aware, that this will happen outside of the actual control loop, so expect a delay between the force actually happening at the tcp and the robot actually stopping. If you want to do it more closely to the control cycle, you could use GitHub - fzi-forschungszentrum-informatik/cartesian_controllers: A set of Cartesian controllers for the ROS-control framework..