tecgihan_driver

ROS 2 drivers for Tec Gihan sensor amplifiers (DMA-03, DPA-06B) and the IMS-SD IMU, run on Linux and ROS 2.

Made by Tec Gihan Co.,Ltd..

Licenses

Code: BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit c540e85 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Reads force and torque data from DMA-03 and DPA-06B strain gauge amplifiers and publishes it as ROS topics.
Reads IMU, magnetometer, temperature and battery data from the IMS-SD sensor and publishes it as ROS topics.
Provides launch files, a RViz demonstration and ROS-independent Python driver classes.
Includes helper scripts for Linux device permissions and for converting force vectors to wrench messages.
Sensor calibration values (full scale and interference correction) can be loaded from YAML files and written to the amplifier.
Supports selecting a specific amplifier by serial number or device location when several are connected.

Written by Robotheca from the project's README (opens in a new tab) at commit c540e85.

Difficulty: Intermediate
Hardware it needs, as the project states it: Ubuntu 22.04 with ROS Humble, or Ubuntu 24.04 with ROS Jazzy; a supported Tec Gihan amplifier or IMS-SD sensor connected over USB.
How to start: The project's README (opens in a new tab)

Status: Active: a commit in the last 90 days
Newest commit: 28 Sept 2026 on main
Latest release: 0.3.1 - Fix DPA-06B 6axis engineering value conversion (28 Sept 2026)

Checked on GitHub on 16 Oct 2026.

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.