No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.1.0
License Private
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr_interface.git
VCS Type git
VCS Version F_adding_arm_servo_noetic
Last Updated 2021-06-14
Dev Status UNMAINTAINED
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

Package for calculating and publishing various errors.

Additional Links

No additional links.

Maintainers

  • Shadow Robot's software team

Authors

No additional authors.

sr_error_reporter

A package for calculating and publishing errors.

This node can be started by:

rosrun sr_error_reporter error_reporter

Underactuation error

Underactuation error is calculated by listening to topics /lh_trajectory_controller/state and /rh_trajectory_controller/state and comparing actual.positions field to desired.positions field. When one of these topics changes, the kinematic model is reset to zeros and only J1 and J2 joints for underactuated fingers are set to either actual or desired values. Then fingertip position is calculated by running forward kinematics. Cartesian distance between actual and desired fingertips is calculated and published to a topic per finger: * /sh_lh_ffj0_position_controller/underactuation_cartesian_error * /sh_lh_mfj0_position_controller/underactuation_cartesian_error * /sh_lh_rfj0_position_controller/underactuation_cartesian_error * /sh_lh_lfj0_position_controller/underactuation_cartesian_error * /sh_rh_ffj0_position_controller/underactuation_cartesian_error * /sh_rh_mfj0_position_controller/underactuation_cartesian_error * /sh_rh_rfj0_position_controller/underactuation_cartesian_error * /sh_rh_lfj0_position_controller/underactuation_cartesian_error

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

No launch files found

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sr_error_reporter at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.0
License Private
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr_interface.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-06-11
Dev Status UNMAINTAINED
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

Package for calculating and publishing various errors.

Additional Links

No additional links.

Maintainers

  • Shadow Robot's software team

Authors

No additional authors.

sr_error_reporter

A package for calculating and publishing errors.

This node can be started by:

rosrun sr_error_reporter error_reporter

Underactuation error

Underactuation error is calculated by listening to topics /lh_trajectory_controller/state and /rh_trajectory_controller/state and comparing actual.positions field to desired.positions field. When one of these topics changes, the kinematic model is reset to zeros and only J1 and J2 joints for underactuated fingers are set to either actual or desired values. Then fingertip position is calculated by running forward kinematics. Cartesian distance between actual and desired fingertips is calculated and published to a topic per finger: * /sh_lh_ffj0_position_controller/underactuation_cartesian_error * /sh_lh_mfj0_position_controller/underactuation_cartesian_error * /sh_lh_rfj0_position_controller/underactuation_cartesian_error * /sh_lh_lfj0_position_controller/underactuation_cartesian_error * /sh_rh_ffj0_position_controller/underactuation_cartesian_error * /sh_rh_mfj0_position_controller/underactuation_cartesian_error * /sh_rh_rfj0_position_controller/underactuation_cartesian_error * /sh_rh_lfj0_position_controller/underactuation_cartesian_error

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

No launch files found

Services

No service files found

Plugins

No plugins found.

Recent questions tagged sr_error_reporter at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.