Raspberry (1 or 2) setup

1. sudo apt-get install git cmake g++ libboost-thread-dev
2. git clone --recursive https://github.com/ipa320/cob_hand.git
3. mkdir cob_hand/cob_hand_bridge/client/build
4. cd cob_hand/cob_hand_bridge/client/build
5. cmake ..
6. make
7. make install (OPTIONAL)

Raspberry usage

cob_hand_bridge */dev/ttyToROS[@baudrate]* [looprate (default: 20Hz)]

Maintenance

update ros_lib (on a ROS PC)

1. cd cob_hand/cob_hand_bridge/client/
2. python make_library.py

ROS usage

Overlay for rosserial: git clone https://github.com/ipa-mdl/rosserial.git -b indigo-devel

Run roslaunch cob_hand_bridge serial_bridge.launch port:=*/dev/ttyToRasp* [baud:=...]

Publications:

• /cob_hand_bridge/status [cob_hand_bridge/Status]

Subscriptions:

• /cob_hand_bridge/set_pin [std_msgs/UInt8]: set single pin
• /cob_hand_bridge/clear_pin [std_msgs/UInt8]: clear single pin
• /cob_hand_bridge/command [cob_hand_bridge/JointValues]: motor command

Services:

• /cob_hand_bridge/set_pwm [cob_hand_bridge/SetPWM]: set pwm output for multiple pins
• /cob_hand_bridge/init_finger [cob_hand_bridge/InitFinger]: init SDHx
• /cob_hand_bridge/halt [std_srvs/Trigger]: stop motor motion
• /cob_hand_bridge/init_pins [cob_hand_bridge/InitPins]: set direction of pins, especially output/pwm pins
• /cob_hand_bridge/update_pins [cob_hand_bridge/UpdatePins]: set and clear multiple ourput pins

Changelog for package cob_hand_bridge

0.6.11 (2024-02-19)

0.6.10 (2022-07-29)

0.6.9 (2020-10-17)

• Merge pull request #27 from fmessmer/test_noetic test noetic
• Bump CMake version to avoid CMP0048 warning
• Contributors: Felix Messmer, fmessmer

0.6.8 (2020-03-25)

• remove -Wno-format flag
• Contributors: fmessmer

0.6.7 (2020-03-18)

• Merge pull request #26 from fmessmer/ci_updates [travis] ci updates
• catkin_lint fixes
• Merge pull request #25 from fmessmer/suppress_warnings add -Wno-* compile option to suppress warnings
• add -Wno compile option to suppress warnings
• Contributors: Felix Messmer, fmessmer

0.6.6 (2019-08-06)

0.6.5 (2018-07-22)

• update pigpio submodule
• Contributors: fmessmer

0.6.4 (2018-07-21)

• update maintainer
• Merge pull request #22 from ipa-bnm/fix/cob_hand_init Reset error in init
• reset error on init
• readded local launch file
• Merge pull request #21 from ipa-bnm/feature/direct_sdh_connection added ros node for direct sdax communication
• mojin robotics copyright
• remove launch file
• added ros node for direct sdax communication
• Contributors: Benjamin Maidel, Felix Messmer, Florian Weisshardt, fmessmer, ipa-fmw

0.6.3 (2018-01-07)

• Merge pull request #19 from ipa320/indigo_release_candidate Indigo release candidate
• Merge pull request #17 from ipa-fxm/APACHE_license use license apache 2.0
• change maintainer
• use license apache 2.0
• Contributors: Felix Messmer, ipa-fxm, ipa-uhr-mk

0.6.2 (2017-07-18)

• properly handle re-init after restart tested on cob4-5
• Contributors: Mathias Lüdtke

0.6.1 (2016-10-10)

• fix install tags
• move launch files to bringup
• start init server after status topic is connected
• speed-up line parsing
• fixed offset calculation bug
• stop timer on preemption
• improved deadline timer
• fixed typo in JointValues.msg
• resend while moving
• set nominal current as default
• renamed g_motors_stopped to to g_motion_stopped
• resend only if control was stopped
• set default velocity (unused, but must be in valid range)
• move command string format was wrong, updated to signed
• pass currents to SDHx
• read currents from trajectory
• parse default currents
• non-positive resend_timer disables it
• stop resending on error
• use deadline timer instead of resend timer
• properly handle goal if already at target
• added missing dependency
• Fix for #6, added dependency to self
• deep-copy port string
• require movement to start
• migrated to goalCB
• increased stopped velocity
• support trajectories with missing header stamp
• proper conversions
• do not test for tolerances size (outdated code)
• catch not connected error in init
• first status detected was buggy
• finger ready logic was inverted
• added trajectory interface
• wait for init_finger service
• enable recover on non-zero RC
• Use global namespaces to make remap work
• Do not check required interfase per default rosserial checks FQN, does not work with component namespaces
• report error on non-zero SDHx return code
• added diagnostics
• c&p bug
• device port was missing the leading slash
• resize position vector before filling it
• advertise recover service
• updated mismatched MD5 sums
• added first version of node
• implemented recover service
• actually read velocity and current from SDHx
• switched to signed current entry
• improved line parsing
• Keep existing PWM setting if value is zero
• Create README.md
• PWM just works for first bank
• added launch file
• refactored for PWM feature
• added support for bank1
• removed sdhx.cpp from CMake config
• SDHx implementation
• first test app with GPIO
• Contributors: Florian Weisshardt, Mathias Lüdtke, ipa-cob4-5, ipa-nhg