ros2_control hardware interfaces

The sensor plugin exports state to controller manager. A force/torque broadcaster owns the ROS topic, frame, and publication rate.

ros-netft 0.3.2

Plugin class: netft_driver/NetFTHardwareInterface

Parameters

Name	Type	Default	Description
sensor_ip	string	192.168.1.1	Sensor IPv4 address or host
sensor_port	int	49152	RDT UDP port
http_port	int	80	Sensor HTTP configuration port
use_sensor_calibration	bool	true	Discover calibration from the sensor over HTTP
counts_per_force	int	1000000	Counts per newton for a manual override
counts_per_torque	int	1000000	Counts per newton-meter for a manual override
receive_timeout	double	0.1	Maximum seconds without a valid record
configuration_connect_timeout	double	0.5	HTTP connection timeout
configuration_timeout	int	1	Total HTTP configuration timeout
activation_timeout	int	2	Maximum wait for the first healthy hardware sample
bias_service	string		Software-bias service

Interfaces

Name	Category	Type	Description
/netft/bias	service	std_srvs/Trigger	Standalone software bias
<sensor_name>/force.x	state	double	ros2_control force/torque state interface
<sensor_name>/force.y	state	double	ros2_control force/torque state interface
<sensor_name>/force.z	state	double	ros2_control force/torque state interface
<sensor_name>/torque.x	state	double	ros2_control force/torque state interface
<sensor_name>/torque.y	state	double	ros2_control force/torque state interface
<sensor_name>/torque.z	state	double	ros2_control force/torque state interface

Each plugin instance owns its socket, receiver, state buffer, diagnostics, and bias service. The six values are N and N·m. Network I/O runs outside the controller-manager update loop, but end-to-end hard real-time behavior is not guaranteed.