march_fake_sensor_data

The march_fake_sensor_data publishes fake sensor data to simulate real sensors when running a simulation of the exoskeleton.

See this tutorial to implement dynamically reconfigurable parameters.

Implemented sensors

Temperature sensors

A dynamically reconfigurable temperature publisher is implemented in fake_temperature_data.cpp. The fake temperature sensors are generated automatically from the joint names from the /march/joint_names parameter on the parameter server. The min and max for random temperatures can be configured in march_fake_sensor_data.launch <march_fake_sensor_data/launch/march_fake_sensor_data.launch>. The min and max will apply to all fake temperature sensors.

How to use

Run the fake temperature publishers

roslaunch march_fake_sensor_data march_fake_sensor_data.launch

You can change the parameters live using:

rosrun rqt_reconfigure rqt_reconfigure

Furthermore, the temperature data can be visualized using rqt_plot and listening to the temperature or variance value on the /march/temperature/<joint_name> topics.