Zeroing the F/T Sensor?

[danzimmerman]

Is there a built-in way to zero the F/T sensor from the driver to get rid of no-load offsets before carrying out operations that use the sensor? I get a few Newtons of force with no tool or payload, within the +/- 4N spec but I'd like to zero it out from time to time.

I know there's a zero_ft_sensor() URScript command but

• Looking at the features docs here it appears we can't send isolated script commands.
• Looking at /ur_robot_driver/resources/ros_control.urscript (referenced in launch here) it seems like the running program is just handling the speed or position commands.
• It doesn't seem like /dashboard_client or /io_and_status_controller provide anything to do this.

In the absence of a way to call zero_ft_sensor() I can subscribe to /force_torque_sensor_broadcaster/wrench for a while and subtract an average offset wrench from the measured wrench. Maybe I could also zero the in my Polyscope robot program prior to the External Control node running?

However, I wanted to check that I'm not missing something in the available interfaces.

[fmauch]

This is correct. I'll add this issue to the ROS1 feature parity Milestone. This is directly depending on #251.

[fmauch]

This is now implemented since #466