X Axis Flip Still Needed?

[mdicicco]

Is it still true that ATI sensors don't use the right hand rule for their sensor axes? I have a new Axia80 and it seems to be correct (i.e. it uses a right hand coord system). The raw netft_data seems to match up with the +X and +Y labels on the sensor and the +Z data lines up with a right hand rule. The flip on lines 244/247 of netft_utils seems to be unnecessary.

I did a quick scan of the ATI website and first two sensor drawings in their pdf (the nano17 and then the nano17e) both use a right hand rule as well, although I don't have any other sensors to test on.

I modified my local copy but it could be a good thing to either note or put in a config to disable.

[jbeck28]

I reached out to an applications engineer with ATI, she told me that all of their sensors follow the right hand rule. So I would think the flip is unnecessary.

[riv-tnoble]

@AndyZe

We've fallen into the same pitfall due to the x axis inversion, and are having to use our own fork of the repo which does not apply the inversion.

It'd make sense to fix the issue at the source by either removing the inversion (if all are right-handed) or by providing the option to the user (if there's a mix of left-handed and right-handed).

I'm happy to raise a PR, but would appreciate input on which idea is better suited as I'm not familiar with the full range of force sensors ABI offers.

[mdicicco]

Just revisited this ticket for fun now many years later and I see that the driver has been updated for ROS2 (hooray!).
That means the X flip in question has now moved lines and is now done here:
https://github.com/UTNuclearRoboticsPublic/netft_utils/blob/ddccade65049195324c384919be7391b24929b48/netft_utils/src/netft_utils.cpp#L197C1-L217C52