ROS Index
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sr_ethercat_hand_config package from sr_config reposr_config sr_ethercat_hand_config |
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Package Summary
| Tags | No category tags. |
| Version | 1.4.0 |
| License | GPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/shadow-robot/sr-config.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2019-06-19 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| 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
- Ugo Cupcic
- Toni Oliver
Hand Configuration
- Calibrations - Both Left and Right hand calibration files, including the calibration of each joint and the 2 pressure sensors per joint. These are set by Shadow Robot prior to the delivery of a hand and should only be changed by a person that has received training for the calibration procedure.
- Controls - Yaml files containing definitions for calibration, effort, joint, position and motor controllers
- Demos - Demo files for store position (demo_rs.py or demo_ls.py), general demo (demo_r.py or demo_l.py), and card trick demo (demo_rc.py).
- Launch - Launch files for Left/Right/Bimanual hands, specific to an install
- Mappings - The file which provides the mapping between hand joints and actuators is specified here.
- Rates - Sensor and actuator update rate files.
Joint to actuator mappings
The mapping files for each type of hand can be found here. The mapping which corresponds to the system that you are launching, i.e. right hand/left hand/motor actuated/muscle actuated, should be specified in the corresponding lh (left hand) or rh (right hand) load_joint_mapping.xml, in the mappings directory.
Changing the joint to actuator mapping should be done with caution, as an incorrect mapping could cause damage to the hand.
Launching a hand
This directory includes launch files for left hand/right hand/bimanual systems.
The ethernet port in which the hand is connected is specified in the launch file. If the port is changed, then it should be edited here. The hand_serial parameter is hand specific, so should only be changed if launching a different hand. To find the hand serial you can launch the hand without the hand_serial argument and then check the program output. You should see something like:
Trying to read mapping for: /hand/mapping/1178
To launch a right hand, run:
roslaunch sr_ethercat_hand_config sr_rhand.launch
To launch a left hand:
roslaunch sr_ethercat_hand_config sr_lhand.launch
And for a bimanual system:
roslaunch sr_ethercat_hand_config sr_system.launch
Running a demo
The demo scripts can be run via rosrun, with a command of the following format:
For the right hand:
rosrun sr_ethercat_hand_config demo_r.py
And for the left hand:
rosrun sr_ethercat_hand_config demo_l.py
Changelog for package sr_ethercat_hand_config
1.4.0 (2015-04-07)
- Fix J0 names for effort controllers
- Fix diagnostics prefix
- Add bimanual diagnostic analyzer
- Add pwm_control argument
- Adapt config files to bimanual single loop
- adding tactile controller config for easier customer customisation
1.3.0 (2014-02-14)
- first hydro release
Wiki Tutorials
Dependant Packages
Launch files
- controls/sr_edc_default_controllers.launch
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- hand_id [default: ]
- pwm_control [default: $(optenv PWM_CONTROL 0)]
- launch/sensors/optoforce_hand.launch
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- rviz [default: true]
- port [default: /dev/ttyACM0]
- launch/sr_bimanual.launch
- launch/tools/rhand_robot_monitor.launch
- launch/tools/lhand_gui.launch
- launch/tools/rhand_tactile_gui.launch
- launch/tools/lhand_robot_monitor.launch
- launch/tools/lhand_tactile_gui.launch
- launch/tools/rhand_gui.launch
- launch/sr_lhand.launch
- launch/demos/rhand_store.launch
- launch/demos/all_hands_demo.launch
- launch/demos/rhand_demo.launch
- launch/demos/lhand_demo.launch
- launch/demos/lhand_store.launch
- launch/demos/all_hands_store.launch
- launch/demos/rhand_demo_card.launch
- launch/sr_rhand.launch
Messages
Services
Plugins
Recent questions tagged sr_ethercat_hand_config at Robotics Stack Exchange
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sr_ethercat_hand_config package from sr_config reposr_config sr_ethercat_hand_config sr_ur_arm_config |
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Package Summary
| Tags | No category tags. |
| Version | 1.4.0 |
| License | GPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/shadow-robot/sr-config.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2020-04-08 |
| Dev Status | DEVELOPED |
| CI status | 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
- Ugo Cupcic
- Toni Oliver
Hand Configuration
- Calibrations - Both Left and Right hand calibration files, including the calibration of each joint and the 2 pressure sensors per joint. These are set by Shadow Robot prior to the delivery of a hand and should only be changed by a person that has received training for the calibration procedure.
- Controls - Yaml files containing definitions for calibration, effort, joint, position and motor controllers
- Demos - Demo files for store position (demo_rs.py or demo_ls.py), general demo (demo_r.py or demo_l.py), and card trick demo (demo_rc.py).
- Launch - Launch files for Left/Right/Bimanual hands, specific to an install
- Mappings - The file which provides the mapping between hand joints and actuators is specified here.
- Rates - Sensor and actuator update rate files.
Joint to actuator mappings
The mapping files for each type of hand can be found here. The mapping which corresponds to the system that you are launching, i.e. right hand/left hand/motor actuated/muscle actuated, should be specified in the corresponding lh (left hand) or rh (right hand) load_joint_mapping.xml, in the mappings directory.
Changing the joint to actuator mapping should be done with caution, as an incorrect mapping could cause damage to the hand.
Launching a hand
This directory includes launch files for left hand/right hand/bimanual systems.
The ethernet port in which the hand is connected is specified in the launch file. If the port is changed, then it should be edited here. The hand_serial parameter is hand specific, so should only be changed if launching a different hand. To find the hand serial you can launch the hand without the hand_serial argument and then check the program output. You should see something like:
Trying to read mapping for: /hand/mapping/1178
To launch a right hand, run:
roslaunch sr_ethercat_hand_config sr_rhand.launch
To launch a left hand:
roslaunch sr_ethercat_hand_config sr_lhand.launch
And for a bimanual system:
roslaunch sr_ethercat_hand_config sr_system.launch
Running a demo
The demo scripts can be run via rosrun, with a command of the following format:
For the right hand:
rosrun sr_ethercat_hand_config demo_r.py
And for the left hand:
rosrun sr_ethercat_hand_config demo_l.py
Changelog for package sr_ethercat_hand_config
1.4.0 (2015-04-07)
- Fix J0 names for effort controllers
- Fix diagnostics prefix
- Add bimanual diagnostic analyzer
- Add pwm_control argument
- Adapt config files to bimanual single loop
- adding tactile controller config for easier customer customisation
1.3.0 (2014-02-14)
- first hydro release
Wiki Tutorials
Dependant Packages
Launch files
- controls/sr_edc_default_controllers.launch
-
- hand_id [default: ]
- pwm_control [default: $(optenv PWM_CONTROL 0)]
- launch/sensors/optoforce_hand.launch
-
- rviz [default: true]
- port [default: /dev/ttyACM0]
- launch/sr_bimanual.launch
- launch/sr_system.launch
-
- sim [default: false]
- gui [default: true]
- scene [default: true]
- launch/tools/rhand_robot_monitor.launch
- launch/tools/lhand_gui.launch
- launch/tools/rhand_tactile_gui.launch
- launch/tools/lhand_robot_monitor.launch
- launch/tools/lhand_tactile_gui.launch
- launch/tools/rhand_gui.launch
- launch/sr_lhand.launch
- launch/demos/rhand_store.launch
- launch/demos/all_hands_demo.launch
- launch/demos/rhand_demo.launch
- launch/demos/lhand_demo.launch
- launch/demos/lhand_store.launch
- launch/demos/rhand_open.launch
- launch/demos/lhand_open.launch
- launch/demos/all_hands_store.launch
- launch/sr_rhand.launch
Messages
Services
Plugins
Recent questions tagged sr_ethercat_hand_config at Robotics Stack Exchange
|
|
sr_ethercat_hand_config package from sr_config reposr_config sr_ethercat_hand_config |
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.4.0 |
| License | GPL |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/shadow-robot/sr-config.git |
| VCS Type | git |
| VCS Version | melodic-devel |
| Last Updated | 2021-07-08 |
| 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
Additional Links
Maintainers
- Shadow Robot's software team
Authors
- Ugo Cupcic
- Toni Oliver
Hand Configuration
- Calibrations - Both Left and Right hand calibration files, including the calibration of each joint and the 2 pressure sensors per joint. These are set by Shadow Robot prior to the delivery of a hand and should only be changed by a person that has received training for the calibration procedure.
- Controls - Yaml files containing definitions for calibration, effort, joint, position and motor controllers
- Demos - Demo files for store position (demo_rs.py or demo_ls.py), general demo (demo_r.py or demo_l.py), and card trick demo (demo_rc.py).
- Launch - Launch files for Left/Right/Bimanual hands, specific to an install
- Mappings - The file which provides the mapping between hand joints and actuators is specified here.
- Rates - Sensor and actuator update rate files.
Joint to actuator mappings
The mapping files for each type of hand can be found here. The mapping which corresponds to the system that you are launching, i.e. right hand/left hand/motor actuated/muscle actuated, should be specified in the corresponding lh (left hand) or rh (right hand) load_joint_mapping.xml, in the mappings directory.
Changing the joint to actuator mapping should be done with caution, as an incorrect mapping could cause damage to the hand.
Launching a hand
This directory includes launch files for left hand/right hand/bimanual systems.
The ethernet port in which the hand is connected is specified in the launch file. If the port is changed, then it should be edited here. The hand_serial parameter is hand specific, so should only be changed if launching a different hand. To find the hand serial you can launch the hand without the hand_serial argument and then check the program output. You should see something like:
Trying to read mapping for: /hand/mapping/1178
To launch a right hand, run:
roslaunch sr_ethercat_hand_config sr_rhand.launch
To launch a left hand:
roslaunch sr_ethercat_hand_config sr_lhand.launch
And for a bimanual system:
roslaunch sr_ethercat_hand_config sr_system.launch
Running a demo
The demo scripts can be run via rosrun, with a command of the following format:
For the right hand:
rosrun sr_ethercat_hand_config demo_r.py
And for the left hand:
rosrun sr_ethercat_hand_config demo_l.py
Changelog for package sr_ethercat_hand_config
1.4.0 (2015-04-07)
- Fix J0 names for effort controllers
- Fix diagnostics prefix
- Add bimanual diagnostic analyzer
- Add pwm_control argument
- Adapt config files to bimanual single loop
- adding tactile controller config for easier customer customisation
1.3.0 (2014-02-14)
- first hydro release
Wiki Tutorials
Dependant Packages
Launch files
- controls/sr_edc_default_controllers.launch
-
- hand_id [default: ]
- pwm_control [default: $(optenv PWM_CONTROL 0)]
- launch/sensors/optoforce_hand.launch
-
- rviz [default: true]
- port [default: /dev/ttyACM0]
- launch/sr_bimanual.launch
- launch/sr_system.launch
-
- sim [default: false]
- gui [default: true]
- scene [default: true]
- launch/tools/rhand_robot_monitor.launch
- launch/tools/lhand_gui.launch
- launch/tools/rhand_tactile_gui.launch
- launch/tools/lhand_robot_monitor.launch
- launch/tools/lhand_tactile_gui.launch
- launch/tools/rhand_gui.launch
- launch/sr_lhand.launch
- launch/demos/rhand_store.launch
- launch/demos/all_hands_demo.launch
- launch/demos/rhand_demo.launch
- launch/demos/lhand_demo.launch
- launch/demos/lhand_store.launch
- launch/demos/rhand_open.launch
- launch/demos/lhand_open.launch
- launch/demos/all_hands_store.launch
- launch/sr_rhand.launch