sensor_configuration_rs485.yaml

Node:
    sim: false
    sensor_hw: "ati_force_torque/ATIForceTorqueSensorHWRS485"
    ft_pub_freq: 200
    ft_pull_freq: 7000
    sensor_frame: "fts_reference_link"
    transform_frame: "fts_base_link"
    static_application: false

Calibration:
    Offset:
        n_measurements: 500
        T_between_meas: 0.01
        isStatic: false # true= use static offset Calibration, false=use calibrate Sensor to 0 in current State

ThresholdFilter:
  name: ThresholdFilter
  type: iirob_filters/ThresholdFilterWrench
  params: {linear_threshold: 2.5,  angular_threshold: 0.3}

LowPassFilter:
  name: LowPassFilter
  type: iirob_filters/LowPassFilterWrench
  params: {SamplingFrequency: 200.0, DampingFrequency: 15.0, DampingIntensity: -6.0}
        
MovingMeanFilter:
  name: MovingMeanFilter
  type: filters/MovingMeanFilterWrench
  params: {divider: 4}

GravityCompensation:
  name: GravityCompensator
  type: iirob_filters/GravityCompensatorWrench
  params: {world_frame: "base_link"}

Publish:
    sensor_data: true
    low_pass: true
    moving_mean: true
    transformed_data: true
    gravity_compensated: true
    threshold_filtered: true
    output_data: true