This plugin is designed to visualize force measurements of two opposing KD45 force sensors. It assumes that force measurements are published using tactile_msgs/TactileState
with both measurements contained in the sensors
list. The sensor names for this list are (left|right)_gripper_tactile
, their force arrows will be shown in the frames kd45_(left|right)_finger_link
. You need to make sure these frames are published.
tactile_msgs
can be found here.
When build in a catkin workspace, this plugin becomes available in RViz.