Add a sensor for the TCP pose (#197)

* Add a sensor for the TCP pose * Use quaternion notation for rotation state interfaces
UniversalRobots · Oct 10, 2024 · ea0c6b5 · ea0c6b5
1 parent 88a47e4
commit ea0c6b5
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/urdf/inc/ur_sensors.xacro b/urdf/inc/ur_sensors.xacro
@@ -9,5 +9,14 @@
       <state_interface name="torque.y"/>
       <state_interface name="torque.z"/>
     </sensor>
+    <sensor name="${tf_prefix}tcp_pose">
+      <state_interface name="position.x"/>
+      <state_interface name="position.y"/>
+      <state_interface name="position.z"/>
+      <state_interface name="orientation.x"/>
+      <state_interface name="orientation.y"/>
+      <state_interface name="orientation.z"/>
+      <state_interface name="orientation.w"/>
+    </sensor>
   </xacro:macro>
 </robot>