In a configured ROS2 environment, enter the following command to start a Force Dimension (server) node:
ros2 run force_dimension node
Sometimes, it is necessary to test the node and interface without hardware
interaction. To run the node without activating any robots, add the
disable_hardware flag:
ros2 run force_dimension node --ros-args -p disable_hardware:=True
That the node is functioning properly can be confirmed by running the following command in a second configured ROS2 environment:
ros2 topic echo /robot/feedback/position
The output will show the x, y, and z coordinates of the effector
endpoint (with arbitrary values, if the robot is disabled).