README.md

Tac3D_ros

Ros1 message support for tactile sensor Tac3D:https://arxiv.org/abs/2202.06211

Compile

catkin_make

Send messages

Topic: tactile_frame
Single tactile sensor:

Message: Frame.msg
string SN
uint32 index
float64 sendTimestamp
float64 recvTimestamp
float64[1200] Positions #flatten
float64[1200] Displacements #flatten
float64[1200] Forces #flatten
float64[3] ResultantForce
float64[3] ResultantMoment

python3 Tac3D_ros/src/tactile_msgs/src/PyTac3D_ros.py

Double tactile sensor:

Message: TactileMsg.msg
std_msgs/Header header
Frame left
Frame right

python3 Tac3D_ros/src/tactile_msgs/src/PyTac3D_double_ros.py