dynpick-force-torque-sensor
Unofficial device driver for Wacoh-tech force-torque sensor written in pure Rust.
Inspired the works of Tokyo Opensource Robotics Kyokai Association (It is written in C/C++ and for ROS).
Example
use DynpickSensorBuilder;
let mut sensor = open
.and_then
.and_then
.unwrap;
sensor.zeroed_next.unwrap; // Calibration
let wrench = sensor.update_wrench.unwrap;
println!;
Dependency under Linux environment
libudev-dev
is required under Linux environment. Please install it by
$ sudo apt install libudev-dev
Setup
It may be required to customize udev rules.
This shell script can be useful for customize (see the file in detail).
Run a demo for an usb-connected sensor
- Clone this repository.
- Setup udev rule by using this shell script.
- Connect your sensor.
- Run the example by
cargo run --example demo
License
MIT
Note
I tested this crate only by WDF-6M200-3 sensor because I have no other dynpick sensor.