How to setup guide for Bota Systems- Force-Torque Rokubi serial using ROS

Link to official datasheet

Requirements

1. ROS-Noetic or ROS2-Foxy
2. BotaSys FT sensor

Hardware description

• Product: Bota systems-BFT-ROKS-SER-M8
• Range(Fxy, Fz, Mxy, Mz): (500N, 1200N, 15Nm, 12Nm)
• Weight: ~113g
• Comunication: Serial RS422/USB
• Size(DxL): 42 x 32 mm
• Accuracy: <2.0%
• Sampling rate(Max): 800 Hz

Setup

Wiring connections

Add a picture of required components of FT sensor

Install dependencies

Step 1

Setup catkin_ws

Step 2

Install bota_driver package

Step 3

create new package inside catkin_ws/src

Download the ft_sensor repo for calibrated_wrench

Step 4

Follow the instructions provided in "Demo" section to verify the installation

Demo

• Check rospack list for installed rokubimini_serial packages
• Run the following node to access the sensor data via topics

roslaunch rokubimini_ethercat rokubimini_ethercat.launch

• Run the custom node to calibrate the sensor

rosrun ft_sensor ft_sensor_wrench.py

Verify

Run (for ROS-noetic) rostopic list and echo the topic of interest rostopic echo <your topic name>

/bus0/ft_sensor0/ft_sensor_readings/reading
/bus0/ft_sensor0/ft_sensor_readings/temperature
/bus0/ft_sensor0/ft_sensor_readings/wrench
/calibrated_wrench
/diagnostics
/rosout
/rosout_agg
/statistics