Skip to content

Fix sinusoidal_force_sensor build and runtime, set wave to 25 Hz #4

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mmmarinho merged 1 commit into from
Aug 17, 2026
Merged

Fix sinusoidal_force_sensor build and runtime, set wave to 25 Hz #4

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 11 additions & 5 deletions src/examples/sinusoidal_force_sensor.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,8 @@
namespace
{
const double amplitude = 2.0;
const double frequency_hz = 100.0;
const double frequency_hz = 25.0;
const double tick_rate_hz = 100.0;
const double angular_frequency = 2.0 * M_PI * frequency_hz;
}

Expand All @@ -37,11 +38,15 @@ class SinusoidalForceSensorNode : public rclcpp::Node
public:
SinusoidalForceSensorNode()
: Node("sinusoidal_force_sensor")
{
}

void attach_server()
{
server_ = std::make_shared<sas::ForceSensorServer>(
std::shared_ptr<Node>(shared_from_this()), "sinusoidal_force_sensor");
timer_ = this->create_wall_timer(
std::chrono::milliseconds(static_cast<int>(1000.0 / frequency_hz)),
std::chrono::milliseconds(static_cast<int>(1000.0 / tick_rate_hz)),
std::bind(&SinusoidalForceSensorNode::on_timer, this));

RCLCPP_INFO(this->get_logger(), "Sinusoidal force sensor node started.");
Expand All @@ -50,14 +55,14 @@ class SinusoidalForceSensorNode : public rclcpp::Node
private:
void on_timer()
{
const double time_s = static_cast<double>(tick_++) / frequency_hz;
const double time_s = static_cast<double>(tick_++) / tick_rate_hz;
const double value = amplitude * std::sin(angular_frequency * time_s);

force_reading_ = value;
torque_reading_ = value;

DQ force({value, 0.0, 0.0});
DQ torque({0.0, value, 0.0});
DQ force(Vector3d(value, 0.0, 0.0));
DQ torque(Vector3d(0.0, value, 0.0));

server_->send_force_torque(force, torque);
}
Expand All @@ -73,6 +78,7 @@ int main(int argc, char* argv[])
{
rclcpp::init(argc, argv);
auto node = std::make_shared<SinusoidalForceSensorNode>();
node->attach_server();
rclcpp::spin(node);
return 0;
}