以下是使用Python编写的在gazebo中对UR5机器人末端力矩传感器进行重力补偿和零点标定的代码:

引入相关库

import rospy
from std_msgs.msg import Float64
from geometry_msgs.msg import WrenchStamped

初始化节点

rospy.init_node('ur5_gravity_compensation_node')

创建发布者

pub_grav_comp = rospy.Publisher('/ur5/grav_comp', Float64, queue_size=10)

定义回调函数

def callback(wrench_msg):
# 计算重力补偿
grav_comp = wrench_msg.wrench.force.z * -1
# 发布重力补偿
pub_grav_comp.publish(grav_comp)

创建订阅者

sub_wrench = rospy.Subscriber('/ur5/wrench', WrenchStamped, callback)

运行节点

rospy.spin()

以上为生成回答,仅供参考~