Package Summary

Tags No category tags.
Version 0.0.1
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-visualization.git
VCS Type git
VCS Version noetic-devel
Last Updated 2022-09-23
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package to show all the data coming from the dexterous hand.

Additional Links

No additional links.

Maintainers

  • Shadow Robot's software team

Authors

  • Georgia Blanco-Litchfield

sr_data_visualization

This is a package to graphically display data coming out of the Dexterous Hand.

In each tab, you can find information about:

  • Joint states (position, effort, velocity)
  • Control loops (setpoint, input, dinput/dt, output, error)
  • Motor stats (Strain Gauge Left, Strain Gauge Right, Measured PWM, Measured Current, Measured Voltage, Measured Effort, Temperature, Unfiltered position, Unfiltered force, Last Commanded Effort, Encoder Position)
  • Palm extras (Accelerometer, Gyro-meter, Analog inputs)

The radio buttons let you choose specific data to show or you can choose “All” to see several graphs being displayed at the same time.

The check buttons next to each graph name allows you to show the graphs you select in larger detail by checking the boxes of the graphs you want to see and clicking “Show Selected”. To return to the full graph view click “Reset”.

This plugin supports a connected hand or a recorded ROS bag. Currently only 1 hand at a time is supported - in case of two hands connected, the plugin will populate its plots for the first detected hand.

How to use it

The gui can be started via roslaunch:

roslaunch sr_data_visualization data_visualizer.launch 

or as an rqt plugin:

rqt

and go to Plugins -> Shadow Robot -> Dexterous Hand Data Visualizer.

Requirement

To be able to use this gui you must have installed pyqwt:

sudo apt install python3-qwt

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/data_visualizer.launch
    • Copyright 2022 Shadow Robot Company Ltd. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation version 2 of the License. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see .
      • rosbag_path [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged sr_data_visualization at answers.ros.org

Package Summary

Tags No category tags.
Version 0.0.1
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-visualization.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-12-03
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package to show all the data coming from the dexterous hand.

Additional Links

No additional links.

Maintainers

  • Shadow Robot's software team

Authors

  • Tom Queen

sr_data_visualization

This is a package to graphically display data coming out of the Dexterous Hand.

How to use it

The gui can be started via roslaunch:

roslaunch sr_data_visualization data_visualizer.launch 

or as an rqt plugin:

rqt

and go to Plugins -> Shadow Robot -> Dexterous Hand Data Visualizer.

Configuration

Inside the config folder you will find a file called data_visualiser_parameters.yaml. From this file you can change parameters such as:

  • Data ranges
  • Units displayed on graph legends
  • Remap topics
  • Font sizes
  • Line colours

Testing

This package includes a script to fetch a bag file for testing purposes, allowing the gui to be used without having a physical or simulated hand running or connected.

To fetch this bag file, run:

rosrun sr_data_visualization download_testing_bag.py 

Once this program has finished, launch the gui (and the bag file) with:

roslaunch sr_data_visualization data_visualizer_testing.launch

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/data_visualizer_testing.launch
      • show_biotacs [default: true]
      • hand_id [default: rh]
      • hand_type [default: hand_e]
      • hand_serial [default: 1322]
      • grasp_controller [default: false]
      • robot_description [default: '$(find sr_description)/robots/shadowhand_motor.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_lite.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_left_lite.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_motor_plus.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor_plus.urdf.xacro']
  • launch/data_visualizer.launch

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged sr_data_visualization at answers.ros.org

Package Summary

Tags No category tags.
Version 0.0.1
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-visualization.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-06-02
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A package to show all the data coming from the dexterous hand.

Additional Links

No additional links.

Maintainers

  • Shadow Robot's software team

Authors

  • Tom Queen

sr_data_visualization

This is a package to graphically display data coming out of the Dexterous Hand.

How to use it

The gui can be started via roslaunch:

roslaunch sr_data_visualization data_visualizer.launch 

or as an rqt plugin:

rqt

and go to Plugins -> Shadow Robot -> Dexterous Hand Data Visualizer.

Configuration

Inside the config folder you will find a file called data_visualiser_parameters.yaml. From this file you can change parameters such as:

  • Data ranges
  • Units displayed on graph legends
  • Remap topics
  • Font sizes
  • Line colours

Testing

This package includes a script to fetch a bag file for testing purposes, allowing the gui to be used without having a physical or simulated hand running or connected.

To fetch this bag file, run:

rosrun sr_data_visualization download_testing_bag.py 

Once this program has finished, launch the gui (and the bag file) with:

roslaunch sr_data_visualization data_visualizer_testing.launch

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/data_visualizer_testing.launch
      • show_biotacs [default: true]
      • hand_id [default: rh]
      • hand_type [default: hand_e]
      • hand_serial [default: 1322]
      • grasp_controller [default: false]
      • robot_description [default: '$(find sr_description)/robots/shadowhand_motor.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_lite.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_left_lite.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_motor_plus.urdf.xacro']
      • robot_description [default: '$(find sr_description)/robots/shadowhand_left_motor_plus.urdf.xacro']
  • launch/data_visualizer.launch

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged sr_data_visualization at answers.ros.org