ROS 2 Migration: F3D

Overview

F3D and FTSensor plugins from ROS1 have been merged into gazebo_ros_ft_sensor in ROS2. This pages contains instructions on how to use FTSensor in ROS2 as F3D plugin in gazebo_plugins in ROS1.

Summary

• All SDF parameters are now snake_cased.
• If the topic name is not defined, default to wrench instead of failing.
• tf_prefix is no longer supported.
• Additional support for modifying update rate and adding Gaussian noise to the sensor readings.

SDF parameters

ROS 1	ROS 2
robotNamespace	<ros><namespace>
bodyName	body_name
topicName	<ros><remapping>wrench:=custom_wrench</remapping></ros>
frameName	frame_name

Example Migration

ROS1

    <model name='the_model'>
      ...

      <link name='box_link'>
        ...
      </link>

      <plugin name="gazebo_ros_f3d" filename="libgazebo_ros_f3d.so">

        <robotNamespace>demo</robotNamespace>
        <topicName>f3d_demo</topicName>
        <bodyName>box_link</bodyName>

      </plugin>

    </model>

ROS2

    <model name='the_model'>
      ...

      <link name='box_link'>
        ...
      </link>

      <plugin name="gazebo_ros_f3d" filename="libgazebo_ros_ft_sensor.so">

        <ros>
          <!-- Add namespace and remap the default topic -->
          <namespace>/demo</namespace>
          <remapping>wrench:=f3d_demo</remapping>
        </ros>

        <!-- Set update rate-->
        <update_rate>200</update_rate>


        <!-- Replace camelCase elements with camel_case ones -->
        <body_name>box_link</body_name>
        <frame_name>sphere_link</frame_name>
        <update_rate>1</update_rate>

        <!-- Add Gaussian noise -->
        <gaussian_noise>0.01</gaussian_noise>

      </plugin>


    </model>