From 85a911074f756113d35e3d32b69f0e1910934892 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Tue, 10 Nov 2020 12:42:28 +0100
Subject: [PATCH 1/4] Update FTS tcp and return FTS state paramters

There are often per-axis limits

This is often defined per-axis. see: https://www.ati-ia.com/products/ft/ft_models.aspx?id=Mini45
---
 ...mponents_architecture_and_urdf_examples.md | 32 +++++++++++++++----
 1 file changed, 26 insertions(+), 6 deletions(-)

diff --git a/design_drafts/components_architecture_and_urdf_examples.md b/design_drafts/components_architecture_and_urdf_examples.md
index 440f14b..a189a59 100644
--- a/design_drafts/components_architecture_and_urdf_examples.md
+++ b/design_drafts/components_architecture_and_urdf_examples.md
@@ -176,9 +176,19 @@ Note:
       <state_interface name="tx"/>
       <state_interface name="ty"/>
       <state_interface name="tz"/>
-      <param name="frame_id">kuka_tcp</param>
-      <param name="lower_limits">-100</param>
-      <param name="upper_limits">100</param>
+      <param name="frame_id">rrbot_tcp</param>
+      <param name="min_fx">-100</param>
+      <param name="max_fx">100</param>
+      <param name="min_fy">-100</param>
+      <param name="max_fy">100</param>
+      <param name="min_fz">-200</param>
+      <param name="max_fz">200</param>
+      <param name="min_tx">-10</param>
+      <param name="max_tx">10</param>
+      <param name="min_ty">-10</param>
+      <param name="max_ty">10</param>
+      <param name="min_tz">-15</param>
+      <param name="max_tz">15</param>
     </sensor>
   </ros2_control>
 ```
@@ -223,9 +233,19 @@ Note:
       <state_interface name="tx"/>
       <state_interface name="ty"/>
       <state_interface name="tz"/>
-      <param name="frame_id">kuka_tcp</param>
-      <param name="lower_limits">-100</param>
-      <param name="upper_limits">100</param>
+      <param name="frame_id">rrbot_tcp</param>
+      <param name="min_fx">-100</param>
+      <param name="max_fx">100</param>
+      <param name="min_fy">-100</param>
+      <param name="max_fy">100</param>
+      <param name="min_fz">-200</param>
+      <param name="max_fz">200</param>
+      <param name="min_tx">-10</param>
+      <param name="max_tx">10</param>
+      <param name="min_ty">-10</param>
+      <param name="max_ty">10</param>
+      <param name="min_tz">-15</param>
+      <param name="max_tz">15</param>
     </sensor>
   </ros2_control>
 ```

From 3dfcc192e1daa732fececa12cfe6f21f7836ac31 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 20 Feb 2021 19:35:28 +0100
Subject: [PATCH 2/4] Use shorter name for example 4

---
 design_drafts/components_architecture_and_urdf_examples.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/design_drafts/components_architecture_and_urdf_examples.md b/design_drafts/components_architecture_and_urdf_examples.md
index a189a59..edf3e66 100644
--- a/design_drafts/components_architecture_and_urdf_examples.md
+++ b/design_drafts/components_architecture_and_urdf_examples.md
@@ -200,7 +200,7 @@ Note:
   * Examples: KUKA RSI and FTS connected to ROS-PC
 
 ```xml
-  <ros2_control name="RRBotSystemPositionOnlyWithExternalSensor" type="system">
+  <ros2_control name="RRBotSystemWithExternalSensor" type="system">
     <hardware>
       <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
       <param name="example_param_write_for_sec">2</param>

From 6a8927e9f0562389255ca0a0bd800203724624c8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 20 Feb 2021 20:25:48 +0100
Subject: [PATCH 3/4] Let's simplify example FTS sensors.

There is no reason to have 6-axis example sensors on 2-axis robot.
---
 ...mponents_architecture_and_urdf_examples.md | 24 -------------------
 1 file changed, 24 deletions(-)

diff --git a/design_drafts/components_architecture_and_urdf_examples.md b/design_drafts/components_architecture_and_urdf_examples.md
index edf3e66..45d2b51 100644
--- a/design_drafts/components_architecture_and_urdf_examples.md
+++ b/design_drafts/components_architecture_and_urdf_examples.md
@@ -171,22 +171,10 @@ Note:
     </joint>
     <sensor name="tcp_fts_sensor">
       <state_interface name="fx"/>
-      <state_interface name="fy"/>
-      <state_interface name="fz"/>
-      <state_interface name="tx"/>
-      <state_interface name="ty"/>
       <state_interface name="tz"/>
       <param name="frame_id">rrbot_tcp</param>
       <param name="min_fx">-100</param>
       <param name="max_fx">100</param>
-      <param name="min_fy">-100</param>
-      <param name="max_fy">100</param>
-      <param name="min_fz">-200</param>
-      <param name="max_fz">200</param>
-      <param name="min_tx">-10</param>
-      <param name="max_tx">10</param>
-      <param name="min_ty">-10</param>
-      <param name="max_ty">10</param>
       <param name="min_tz">-15</param>
       <param name="max_tz">15</param>
     </sensor>
@@ -228,22 +216,10 @@ Note:
     </hardware>
     <sensor name="tcp_fts_sensor">
       <state_interface name="fx"/>
-      <state_interface name="fy"/>
-      <state_interface name="fz"/>
-      <state_interface name="tx"/>
-      <state_interface name="ty"/>
       <state_interface name="tz"/>
       <param name="frame_id">rrbot_tcp</param>
       <param name="min_fx">-100</param>
       <param name="max_fx">100</param>
-      <param name="min_fy">-100</param>
-      <param name="max_fy">100</param>
-      <param name="min_fz">-200</param>
-      <param name="max_fz">200</param>
-      <param name="min_tx">-10</param>
-      <param name="max_tx">10</param>
-      <param name="min_ty">-10</param>
-      <param name="max_ty">10</param>
       <param name="min_tz">-15</param>
       <param name="max_tz">15</param>
     </sensor>

From 5221e7b79c3d8b1b1276f20395c50914d8ca52f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <destogl@users.noreply.github.com>
Date: Sat, 20 Feb 2021 20:41:15 +0100
Subject: [PATCH 4/4] Update to use symetric range on FTS.

Are there FTS with asymmetric range?
---
 .../components_architecture_and_urdf_examples.md     | 12 ++++--------
 1 file changed, 4 insertions(+), 8 deletions(-)

diff --git a/design_drafts/components_architecture_and_urdf_examples.md b/design_drafts/components_architecture_and_urdf_examples.md
index 45d2b51..ebfd064 100644
--- a/design_drafts/components_architecture_and_urdf_examples.md
+++ b/design_drafts/components_architecture_and_urdf_examples.md
@@ -173,10 +173,8 @@ Note:
       <state_interface name="fx"/>
       <state_interface name="tz"/>
       <param name="frame_id">rrbot_tcp</param>
-      <param name="min_fx">-100</param>
-      <param name="max_fx">100</param>
-      <param name="min_tz">-15</param>
-      <param name="max_tz">15</param>
+      <param name="fx_range">100</param>
+      <param name="tz_range">15</param>
     </sensor>
   </ros2_control>
 ```
@@ -218,10 +216,8 @@ Note:
       <state_interface name="fx"/>
       <state_interface name="tz"/>
       <param name="frame_id">rrbot_tcp</param>
-      <param name="min_fx">-100</param>
-      <param name="max_fx">100</param>
-      <param name="min_tz">-15</param>
-      <param name="max_tz">15</param>
+      <param name="fx_range">100</param>
+      <param name="tz_range">15</param>
     </sensor>
   </ros2_control>
 ```