Add ROS driver package for BL force torque sensor

bl_force_torque_sensor_ros/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(bl_force_torque_sensor_ros)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+)
+
+add_message_files(
+  FILES
+  AmplifierOutputRawArray.msg
+)
+
+generate_messages()
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime
+)
+
+file(GLOB SCRIPT_PROGRAMS node_scripts/*.py)
+catkin_install_python(PROGRAMS ${SCRIPT_PROGRAMS}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/node_scripts
+)
+
+install(DIRECTORY arduino circuits config launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)

bl_force_torque_sensor_ros/README.md

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+# bl_force_torque_sensor_ros
+
+ROS driver package for [BL force torque sensor](https://www.bl-autotec.co.jp/products/index.php?cid=5).
+
+## Circuit
+
+Before using this package, you have to prepare a circuit connecting your sensor and PC.
+
+### Circuit using Arduino and [ADS131M04](https://www.ti.com/product/ADS131M04) as ADC for sensor with RMD amplifier
+
+![](circuits/rmd_ads131m04_arduino/schematic.jpg)
+
+## How to install
+
+- Install dependency of `bl_force_torque_sensor_ros` (e.g., by `rosdep install`) and build `bl_force_torque_sensor_ros` (e.g., by `catkin build`)
+  - See http://wiki.ros.org/rosdep#Install_dependency_of_all_packages_in_the_workspace for `rosdep` usage
+
+  For example:
+  ```bash
+  mkdir -p ~/ws_bl_force_torque_sensor_ros/src
+  cd ~/ws_bl_force_torque_sensor_ros/src
+  git clone https://github.com/pazeshun/jsk_3rdparty.git -b bl_force_torque_sensor_ros
+  rosdep install -y -r --ignore-src --from-paths jsk_3rdparty/bl_force_torque_sensor_ros
+  cd ..
+  catkin build bl_force_torque_sensor_ros
+  source ~/ws_bl_force_torque_sensor_ros/devel/setup.bash  # Do this every time you open a new terminal
+  ```
+
+- If you prepare a circuit using Arduino,
+  - [Setup Arduino IDE for rosserial](http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup#Install_ros_lib_into_the_Arduino_Environment). Note that you must do it after sourcing `setup.bash` of the workspace including `bl_force_torque_sensor_ros`. If you did it without sourcing correctly, do it again
+  - Upload corresponding firmware to your Arduino. E.g., upload `arduino/sensor_driver_raw_rmd_ads131m04/sensor_driver_raw_rmd_ads131m04.ino` when your circuit uses ADS131M04 for RMD amplifier
+    - The firmware may require additional libraries
+      - `sensor_driver_raw_rmd_ads131m04.ino`: search and install [CRC](https://www.arduino.cc/reference/en/libraries/crc/) on library manager of Arduino IDE
+
+## How to use
+
+To run sample, you have to specify the calibration matrix of your sensor.
+You can pass it via command line, but it may be easier to write and run a simple launch file like:
+```xml:my_sample.launch
+<launch>
+  <include file="$(find bl_force_torque_sensor_ros)/launch/sample.launch">
+    <arg name="driver_type" value="rosserial" />  <!-- Specify your driver type (rosserial: you are using Arduino) -->
+    <arg name="driver_name" value="bl_force_torque_sensor_driver" />
+    <arg name="port" value="/dev/ttyACM0" />  <!-- Specify your circuit's port on your PC -->
+    <arg name="baud" value="250000" />  <!-- This depends on the firmware you uploaded -->
+    <arg name="sensor_type" value="NANO2.5/2-A" />  <!-- Specify your sensor type -->
+    <arg name="amplifier_type" value="RMD" />  <!-- Specify your amplifier type -->
+    <arg name="adc_type" value="ADS131M04" />  <!-- Specify your ADC type -->
+    <arg name="sensor_frame_id" value="bl_force_torque_sensor" />
+    <arg name="rate" value="500" />
+    <arg name="calib_matrix" value="[[-0.018373, -0.001612,  0.027921,  0.701325,  0.011503, -0.695529],
+                                     [-0.021972, -0.778745,  0.022058,  0.397533,  0.014968,  0.382496],
+                                     [ 1.639594, -0.030488,  1.640720, -0.002827,  1.642459,  0.020087],
+                                     [-0.002086, -0.384702, -0.889313,  0.196776,  0.952740,  0.192120],
+                                     [ 1.110530, -0.049333, -0.542139, -0.325569, -0.481140,  0.351993],
+                                     [ 0.033908,  0.335471, -0.000163,  0.262144, -0.008585,  0.347287]]" />
+  </include>
+</launch>
+```