Bota Systems package compliant with sas.
Quick start¶
Docker examples that do not need any installation or cloning the repository.
EtherCat¶
See config/ethercat_gen0.json for the example configuration file.
mkdir -p ~/sas_tutorial_workspace/docker/sas_force_sensor_bota/demo
cd ~/sas_tutorial_workspace/docker/sas_force_sensor_bota/demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_force_sensor_bota/refs/heads/jazzy/docker/demo/compose_ethercat.yml
xhost +local:root
docker compose -f compose_ethercat.yml upSerial Communication¶
See config/bota_binary_gen0.json for the example configuration file.
mkdir -p ~/sas_tutorial_workspace/docker/sas_force_sensor_bota/demo
cd ~/sas_tutorial_workspace/docker/sas_force_sensor_bota/demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_force_sensor_bota/refs/heads/jazzy/docker/demo/compose.yml
xhost +local:root
docker compose upPre-requisites¶
wget https://raw.githubusercontent.com/MarinhoLab/sas_force_sensor_bota/refs/heads/jazzy/docker/install.sh
chmod +x install.sh && . install.shRunning sensor server¶
ros2 launch sas_force_sensor_bota force_sensor_launch.pyThe launch file loads the parameters from config/config.yaml (override with
config_file:=/path/to/config.yaml). The hardware-specific JSON configuration
(configuration_file_path) is embedded in the YAML file: config/config.yaml
points at bota_binary_gen0.json and config/config_ethercat.yaml points at
ethercat_gen0.json (for the EtherCAT hardware).
| Configurable Parameter | Meaning |
|---|---|
config_file (launch argument) | Path to the YAML configuration file. Defaults to config/config.yaml; use config_ethercat.yaml for the EtherCAT hardware. |
ROS 2 Nodes & Parameters¶
Node: sas_force_sensor_bota_node¶
| Property | Value |
|---|---|
| Executable | sas_force_sensor_bota_node |
| ROS node name | sas_force_sensor_bota_node (set by the name launch argument of force_sensor_launch.py) |
| Description | Reads the Bota force/torque sensor, publishes the wrench on <topic_name>/get/wrench, and keeps the sensor configured/activated for the node lifetime. |
Parameters¶
| Parameter | Type | Mandatory / Optional | Default | Purpose |
|---|---|---|---|---|
topic_name | string | Optional | /sas_force_sensor_bota | Topic prefix; e.g. when there are multiple sensors in the same ROS_DOMAIN |
configuration_file_path | string | Optional | in-code default pointing at config/bota_binary_gen0.json in the package share directory | Path to the Bota JSON configuration file (hardware-specific). May be given as an absolute path or as a filename relative to the package config/ directory (as in the sample YAML files) |
sampling_time | double | Optional | 0.01 | Sampling period of the read loop, in seconds |
How mandatory/optional is determined in code:
Mandatory params are declared without a default — the node fails if they are not provided.
Optional params are declared with an in-code default.
Sample launch¶
ros2 launch sas_force_sensor_bota force_sensor_launch.pyTo use the EtherCAT JSON configuration (select the EtherCAT YAML, which
embeds configuration_file_path: ethercat_gen0.json):
ros2 launch sas_force_sensor_bota force_sensor_launch.py config_file:=$(ros2 pkg prefix sas_force_sensor_bota --share)/config/config_ethercat.yamlExample client¶
ros2 run sas_force_sensor_bota sas_force_sensor_client_example_node