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mia_hand_description package from mia_hand_ros_pkgs repo

mia_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 2024-01-15
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 containing Mia Hand URDF model. Includes Gazebo tags that allow for URDF usage in Gazebo simulator. Includes description of the index_thumb opposition passive joint.

Additional Links

Maintainers

  • Andrea Burani
  • Francesca Cini

Authors

  • Francesca Cini
  • Oscar Lima
mia_hand_description/README.md

mia_hand_description

The following run instruction was tested in ROS noetic to display Mia Hand in rviz without showing the coupling between the index flexion and the thumb opposition joint:

roslaunch mia_hand_description view_mia_hand_rviz.launch

The following run instruction was tested in ROS noetic to display Mia Hand in rviz showing the coupling between the index flexion and the thumb opposition joint:

roslaunch mia_hand_description view_mia_hand_rviz.launch remap_MIA_th_opp:=True

Other inputs arguments of the launch file are:

Rviz_on:                          default="true"                      doc="True to start Rviz and the joint state gui"
use_joint_gui:                    default="true"                      doc="Enable the joint_state_publisher use a GUI for controlling joint states"
right_hand:                       default="true"                      doc="True for right hand False otherwise"
load_default_mia_model:           default="false"                     doc="flag to load URDF with default or calibrated joint parameters eg. joint limits"
joint_limits_config_filename:     default="joint_limits.yaml"         doc="name of the config yaml file to calibrate joints limit of URDF file"
transmission_config_filename:     default="transmission_config.yaml"  doc="name of the config yaml file to calibrate transmissions of Mia Hand"
UR_Flange:                        default = "false"                   doc="True to visualize the UR flange with the Mia Hand".
remap_MIA_th_opp:                 default="false"                     doc="True to remap the thumb opp joint position following the index fle position.
hw_interface_thumb_fle:           default="PositionJointInterface"    doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the index flexion joint.
hw_interface_index_fle:           default="PositionJointInterface"    doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the thumb flexion joint.
hw_interface_mrl_fle:             default="PositionJointInterface"    doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the mrl flexion joint.
robotNamespace:                   default="mia_hand"                  doc="Name space of the robot and its releated topics"

Please note that to this launch file loads the Mia Hand joint transmission YAML configuration file (stored in the mia_hand_description/calibration folder) to the parameter server.

CHANGELOG

Changelog for package mia_hand_description

1.0.2 (2022-02-07)

1.0.1 (2022-02-07)

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.
  • Added license file in the repo and license text as header of each file.
  • Added licence file and licence text as header of each file.
  • 1.0.0
  • Added ChangeLog files of each pkg.
  • Initial commit.
  • Fix package xml files.
  • Initial commit.
  • Contributors: Andrea Burani, frcini

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/view_mia_hand_rviz.launch
    • Version 1.1
      • Rviz_on [default: true] — If true, start Rviz and the joint state gui
      • use_joint_gui [default: true] — Should the joint_state_publisher use a GUI for controlling joint states
      • right_hand [default: true] — True to for right hand False otherwise
      • load_default_mia_model [default: false]
      • joint_limits_config_filename [default: joint_limits.yaml] — name of the config yaml file to calibrate joints limit of URDF file
      • transmission_config_filename [default: transmission_config.yaml] — name of the config yaml file to calibrate transmissions of MiaHand
      • UR_Flange [default: false] — true to visualize the UR flange with the Mia Hand
      • remap_MIA_th_opp [default: false] — True to rempa the thumb opp joint position following the indef fle position
      • hw_interface_thumb_fle [default: PositionJointInterface]
      • hw_interface_index_fle [default: PositionJointInterface]
      • hw_interface_mrl_fle [default: PositionJointInterface]
      • robotNamespace [default: mia_hand]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mia_hand_description at Robotics Stack Exchange

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