This software package adds tactile messages, a tactile sensor description to URDF, as well as visualization tools to ROS.
- tactile_msgs: ROS messages to publish raw tactile data as well as contact information.
- urdf_tactile: extension to URDF to describe tactile sensors, requires a modified urdf package and urdfdom 0.5.
- tactile_merger: Compute contact information from raw tactile data and taxel geometry.
- tactile_state_publisher: Re-publish raw tactile data, allowing to merge different sources into a new publisher.
- tactile_pcl: Compute and publish Tactile Point Cloud data from raw tactile data.
- rviz_tactile_plugins: rviz visualization tools for raw tactile data and contact information.