ForceSensor

Force sensors measure the collision force (force / torque) applied to the attached link of the vehicle in each physics iteration. The output of the sensor can be published in a ForceSensorROS ROS interface.

XML syntax

Force sensors require a name, target (relativeTo), offsetp and offsetr.

• name: This parameters sets the device name that will identify it.
• target: The name of the vehicle's link where the device is attached.
• offsetp: By default the returned force will be referenced to the centre of the link (stated in the 3D file). This offset allows to move it to a more convenient place.
• offsetr: By default the returned force will be referenced to the centre of the link (stated in the 3D file). This offset allows to move it to a more convenient place.