leptrino_force_sensor

A ROS 2 driver for the Leptrino 6-axis force/torque sensor.
This package communicates with the sensor via serial connection and publishes force and torque data as geometry_msgs/msg/WrenchStamped.

It supports startup calibration, offset save/load, and service-based recalibration without restarting the node.

Features

• Serial communication with Leptrino force/torque sensors
• Publishes geometry_msgs/msg/WrenchStamped
• Automatic zero-offset calibration at startup (mean-based)
• Save and reload offset values from a file
• ROS 2 services for:
  • Saving offset values
  • Triggering re-calibration at runtime

Environment

• ROS 2 Humble
• Ubuntu 22.04
• Leptrino 6-axis force/torque sensor FFS055YA501U6

Install

cd ~/ros2_ws/src
git clone https://github.com/open-rdc/leptrino_force_sensor
cd ~/ros2_ws
colcon build
source install/setup.bash

Execute

Basic execution

ros2 run leptrino_force_sensor leptrino_force_sensor_node

Execute with offset file specified

ros2 run leptrino_force_sensor leptrino_force_sensor_node --ros-args -p offset_file:=/home/ubuntu/leptrino_offset.txt

Published Topic

• /force_data Type: geometry_msgs/msg/WrenchStamped

Contents:

force.x, force.y, force.z [N]
torque.x, torque.y, torque.z [Nm]

Values are published after offset compensation

Services

Save Offset

Saves the current offset values to the file specified by offset_file.

ros2 service call /save_offset std_srvs/srv/Trigger

Recalibrate

Resets the calibration state and starts re-calibration using incoming sensor data.

ros2 service call /recalibrate std_srvs/srv/Trigger

Node restart is not required.