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 2022-05-27
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.

  • 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.

  • 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.

  • 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, 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

System Dependencies

No direct system dependencies.

Launch files

  • launch/mia_hand_driver_node.launch
  • launch/mia_hand_hw_moveit.launch
      • 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]
      • tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos
  • launch/mia_hand_hw.launch
      • 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]
      • 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
  • launch/mia_hand_Sim_traj.launch
      • 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]
      • 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
      • 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]
      • tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos
  • launch/mia_hand_Sim.launch
      • 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]
      • 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