Standalone node interfaces
The ROS 1 and ROS 2 standalone nodes share endpoint, calibration, publishing, recovery, and diagnostic configuration. ROS wrench output is always N and N·m.
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 |
frame_id | string | netft_link | Wrench header frame |
wrench_topic | string | /netft/wrench | Published wrench topic |
bias_service | string | /netft/bias | Software-bias service |
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 |
publish_rate | int | 0 | Maximum publish rate; zero publishes every accepted sample |
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 |
reconnect_initial_delay | double | 0.25 | Initial reconnect delay |
reconnect_max_delay | int | 5 | Maximum reconnect delay |
diagnostics_rate | int | 1 | Diagnostics publication rate |
expected_rdt_rate | int | 2000 | Expected RDT receive rate |
rate_tolerance | double | 0.2 | Allowed fractional receive-rate deviation |
publish_on_error | bool | false | Publish standalone samples with serious device status |
Interfaces
| Name | Category | Type | Description |
|---|---|---|---|
/netft/wrench | topic | geometry_msgs/WrenchStamped | Standalone SI wrench output |
/netft/bias | service | std_srvs/Trigger | Standalone software bias |
ROS 2 uses SensorDataQoS for wrench data and reliable diagnostics. ROS 1 uses a wrench publisher queue of 10. The message timestamp is the local ROS clock immediately after a complete RDT record is accepted.