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mia_hand_bringup package from mia_hand_ros_pkgs repomia_hand_bringup mia_hand_description mia_hand_driver mia_hand_gazebo mia_hand_moveit_config mia_hand_msgs mia_hand_ros_control mia_hand_ros_pkgs |
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Package Summary
| Tags | No category tags. |
| Version | 1.0.2 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/prensiliasrl/mia_hand_ros_pkgs.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-09-26 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Package for grouping together all Mia Hand config and launch files.
Additional Links
Maintainers
- Andrea Burani
- Francesca Cini
Authors
- Andrea Burani
mia_hand_bringup
This package contains the launch files of the mia hand.
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to launch the node drive of the real Mia hand and send serial commands directly to the hand please use:
roslaunch mia_hand_bringup mia_hand_driver_node.launch
See readme file and documentation of the mia_hand_driver pkg for further details.
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to launch the control loop (frequency 20Hz), the hardware interface of the real Mia Hand with ros controllers please use:
roslaunch mia_hand_bringup mia_hand_hw.launch roslaunch mia_hand_bringup mia_hand_hw_traj.launch roslaunch mia_hand_bringup mia_hand_hw_moveit.launch
See readme file and documentation of the mia_hand_ros_control pkg for further details. Please note that to these launch files load the mia joint transmission YAML configuration file (stored in the mia_hand_description/calibration folder) to the parameter server.
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to launch the control the simulation of the Mia hand within Gazebo with controllers please use:
roslaunch mia_hand_bringup mia_hand_Sim.launch roslaunch mia_hand_bringup mia_hand_Sim_traj.launch
See readme file and documentation of the mia_hand_gazebo pkg for further details. Please note that to these launch files load the mia joint transmission YAML configuration file (stored in the mia_hand_description/calibration folder) to the parameter server.
Please, in order to properly control the mia hand hardware, set the serial low_latency flag:
setserial /dev/<tty_name> low_latency
CHANGELOG
Changelog for package mia_hand_bringup
1.0.2 (2022-02-07)
1.0.1 (2022-02-07)
- Merge branch \'master\' of bitbucket.org:prensiliasrl/mia_hand_ros_pkgs
- Update trajectory velocity controllers (also for moveit).
- Contributors: Andrea Burani, frcini
1.0.0 (2022-01-25)
- 1.0.0
- Updated CHANGELOG files.
- Updated CHANGELOG files.
- Added srv dependency to mia_hand_driver and joint_state_interface to mmia_hand_description. Added wiki url links.
- 1.0.0
- Added ChangeLog files of each pkg.
- Initial commit.
- Fix package xml files.
- Initial commit.
- Contributors: Andrea Burani, frcini
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | mia_hand_driver | |
| 1 | mia_hand_description | |
| 1 | mia_hand_gazebo | |
| 1 | mia_hand_ros_control |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| mia_hand_ros_pkgs | bitbucket-prensiliasrl-mia_hand_ros_pkgs |
Launch files
- launch/mia_hand_driver_node.launch
- launch/mia_hand_hw_moveit.launch
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- Mia_COM_ [default: 0] — Int number of the Mia hand COM port
- Mia_fs_ [default: 20] — Hz, frequency of the control loop of the Mia Hw interface
- robotNamespace [default: mia_hand_hw]
- load_default_mia_model [default: false]
- tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos
- launch/mia_hand_hw.launch
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- Mia_COM_ [default: 0] — Int number of the Mia hand COM port
- Mia_fs_ [default: 20] — Hz, frequency of the control loop of the Mia Hw interface
- robotNamespace [default: mia_hand_hw]
- load_default_mia_model [default: false]
- controller_thumb_fle [default: pos_vel] — type of controller for thumb flexion. Values: position, velocity, pos_vel
- controller_index_fle [default: pos_vel] — type of controller for index flexion. Values: position, velocity, pos_vel
- controller_mrl_fle [default: pos_vel] — type of controller for mrl flexion. Values: position, velocity, pos_vel
- Rviz_on [default: false] — If true, start Rviz to plot Mia hand joint state
- launch/mia_hand_Sim_traj.launch
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- Rviz_on [default: true] — If true, start Rviz and the joint state gui
- use_joint_gui [default: false] — If true, start Rviz and the joint state gui
- paused [default: false]
- use_sim_time [default: true]
- Gazebo_gui [default: true]
- headless [default: false]
- debug [default: false]
- UR_Flange [default: false] — true to visualize the UR flange with the Mia Hand
- robotNamespace [default: mia_hand_sim]
- load_default_mia_model [default: false]
- tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos, eff
- eff_interface [default: false] — Set true when use tc_type eff to load effort interface
- hw_interface_thumb_fle [default: EffortJointInterface] — type of hardware interface for thumb flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_index_fle [default: EffortJointInterface] — type of hardware interface for index flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_mrl_fle [default: EffortJointInterface] — type of hardware interface for mrl flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_thumb_fle [default: PositionJointInterface] — Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_index_fle [default: PositionJointInterface] — Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_mrl_fle [default: PositionJointInterface] — Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- launch/mia_hand_hw_traj.launch
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- Mia_COM_ [default: 0] — Int number of the Mia hand COM port
- Mia_fs_ [default: 20] — Hz, frequency of the control loop of the Mia Hw interface
- robotNamespace [default: mia_hand_hw]
- load_default_mia_model [default: false]
- tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos
- Rviz_on [default: false] — If true, start Rviz to plot Mia hand joint state
- launch/mia_hand_Sim.launch
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- Rviz_on [default: true] — If true, start Rviz and the joint state gui
- use_joint_gui [default: false] — If true, start Rviz and the joint state gui
- paused [default: false]
- use_sim_time [default: true]
- Gazebo_gui [default: true]
- headless [default: false]
- debug [default: false]
- robotNamespace [default: mia_hand_sim]
- load_default_mia_model [default: false]
- hw_interface_thumb_fle [default: VelocityJointInterface] — type of hardware interface for thumb flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_index_fle [default: VelocityJointInterface] — type of hardware interface for index flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- hw_interface_mrl_fle [default: VelocityJointInterface] — type of hardware interface for mrl flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
- controller_thumb_fle [default: velocity] — type of controller for thumb flexion. Values: position, velocity, eff, eff_position, (eff_velocity has not been tuned)
- controller_index_fle [default: velocity] — type of controller for index flexion + thumb abd. Values: position,velocity,eff, eff_position, (eff_velocity has not been tuned)
- controller_mrl_fle [default: velocity] — type of controller for mrl fingers flexion. Values: position, velocity, eff, eff_position,(eff_velocity has not been tuned)
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mia_hand_bringup at answers.ros.org
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