shadow-robot/sr-ros-interface-ethercat — pull request #37 by guihomework (2014-08-25 15:14:20+00:00)
Title: sr_tactile_sensor_controller to publish tactile data

ros_control suggests to publish data coming from a robot driver through interfaces and controllers

this controller publishes the tactile data of type UBI, accessing the robotstate registered interface. This way one can easily change the publishing frequency without perturbing the main control loop. Data pre-processing could also be put in such controllers before publishing.

Only UBI tactile sensor publisher is implemented currently, but it makes use of a generic controller that has the handler to the 3 supported tactile sensor types.

No driver modification is required.
Tested on a right hand with UBI sensors at speed up to 1kHz (maximum since main loop is at this speed)