Native sample model

Native C++ and Python samples preserve the sensor's discovered units. Every sample describes one accepted RDT record.

Field	Type	Contract
rdt_sequence	unsigned 32-bit / int	Request-stream sequence used for loss, duplicate, and ordering checks
ft_sequence	unsigned 32-bit / int	Device measurement sequence used for progress, stall, restart, and backward checks
status	unsigned 32-bit / int	ATI device status word
raw_wrench	six signed 32-bit counts	(Fx, Fy, Fz, Tx, Ty, Tz) before scaling
force	three floating-point values	(Fx, Fy, Fz) in force_unit
torque	three floating-point values	(Tx, Ty, Tz) in torque_unit
force_unit	force-unit enum	Unit paired with the discovered force scale
torque_unit	torque-unit enum	Unit paired with the discovered torque scale
configuration_revision	unsigned 64-bit / int	Configuration identity used to scale the record
receive timestamp	monotonic host time	Receipt time for freshness and interval calculations

The device record has no acquisition wall-clock timestamp. Do not convert the monotonic receive timestamp into UTC. Record a separate system-clock timestamp when cross-system correlation is required.

Scaling

force[i]  = raw_wrench[i]     / counts_per_force_unit
torque[i] = raw_wrench[i + 3] / counts_per_torque_unit

The result uses the unit stored with its scale. ROS converts these native values to N and N·m before publishing.