Add sinusoidal force sensor example node - #2
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- Create src/examples/sinusoidal_force_sensor.cpp: a ROS 2 node that publishes sinusoidal force/torque readings via sas::ForceSensorServer - Force readings oscillate with amplitude 2.0 at 100 Hz - Store latest force and torque readings locally in the node - Update CMakeLists.txt to build and install the example executable
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Summary
This PR adds a C++ ROS 2 example node that uses
sas::ForceSensorServerto publish sinusoidal force/torque readings.Changes
src/examples/sinusoidal_force_sensor.cpp— New example node that:SinusoidalForceSensorNodeextendingrclcpp::Nodesas::ForceSensorServerwith topic prefix"sinusoidal_force_sensor"force_reading_,torque_reading_)send_force_torque()CMakeLists.txt— Added example build target:add_executable(sinusoidal_force_sensor ...)with proper dependenciessas_force_sensorlibrary,-ldqrobotics, andEigen3::Eigenlib/sas_force_sensorUsage
After building the workspace:
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