|
|
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 | 2021-12-10 |
| 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
Additional Links
Maintainers
- Shadow Robot's software team
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
Wiki Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | message_generation | |
| 1 | catkin | |
| 1 | message_runtime | |
| 1 | roscpp | |
| 2 | geometry_msgs | |
| 3 | moveit_core | |
| 3 | moveit_ros_planning_interface | |
| 2 | std_msgs | |
| 0 | sr_utilities_common |