sas_force_sensor_bota

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 up

Serial 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 up

Pre-requisites¶

wget https://raw.githubusercontent.com/MarinhoLab/sas_force_sensor_bota/refs/heads/jazzy/docker/install.sh
chmod +x install.sh && . install.sh

Running sensor server¶

ros2 launch sas_force_sensor_bota sas_force_sensor_bota_launch.py

Configurable Parameter	Meaning
`topic_name`	Topic prefix, for instance, if there are multiple sensors in the same `ROS_DOMAIN`.
`configuration_file_path`	The path to the `json` configuration file, see examples in the `config` folder.

Example client¶

ros2 run sas_force_sensor_bota sas_force_sensor_client_example_node