Add force torque sensor #393
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Signed-off-by: Nick Lamprianidis <[email protected]>
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| EXPECT_EQ(sdf.get(), ft.Element().get()); | ||
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| // The ForceTorque::Load function is tested more thouroughly in the | ||
| // link_dom.cc integration test. |
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wow, that test is actually wrong because the force_torque sensor is only supposed to be attached to a joint, not a link. we can merge this as is, but at some point we will need to correct test/sdf/sensors.sdf
here's an example from osrf/gazebo:
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This PR is straight-forward; it exposes the existing data fields from the specification. It does raise some questions for me about the fact that I'll open an issue to discuss this further. |
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Codecov Report
@@ Coverage Diff @@
## master #393 +/- ##
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- Coverage 87.71% 87.52% -0.19%
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Files 61 62 +1
Lines 9467 9542 +75
==========================================
+ Hits 8304 8352 +48
- Misses 1163 1190 +27
Continue to review full report at Codecov.
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Signed-off-by: Nick Lamprianidis <[email protected]> Co-authored-by: Steve Peters <[email protected]>
Signed-off-by: Nick Lamprianidis <[email protected]> Co-authored-by: Steve Peters <[email protected]>
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-01-10/1228/1 |
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1 |
Addresses gazebosim/gz-sensors#25
Signed-off-by: Nick Lamprianidis [email protected]