Package Summary

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

Repository Summary

Checkout URI
VCS Type git
VCS Version noetic-devel
Last Updated 2023-08-16
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
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Package Description

The sr_fingertip_visualization GUI

Additional Links


  • Shadow Software Team


  • Maximilian Zieba


This is a package to graphically display data coming from the tactile sensors of the Dexterous Hand.

There are 2 available tabs: - Visualizer - Graphs

As a user you can select which hands and corresponding sensors you would like to inspect by selecting the HandID. Selecting a specific finger will enable or disable the refreshing. You have also the possibility to present only selected fingers by pressing Show selected or bring back all of the fingers to the tab by pressing Show all.

The Visualizer tab respresents the data in form of tactile points changing their colours based on the value coming from the sensors. In case of a Dexterous Hand equiped with Biotacs as tactile sensors, there is also a button which will allow you to switch the visual representation mode of the tactile points between electrodes or pac values coming from the sensor.

The Graphs tab respresents the data in form of plots for all of the data coming from the sensors. Ticking the corresponding checkbox for the datatype will either add or remove the plot from the graph of the finger.

How to use it

The gui can be started via roslaunch with an optional rosbag. The rosbag will be played with the -l option (infinite loop):

roslaunch sr_gui_fingertip_visualization tactile_visualizer.launch rosbag_path:=<absolute_path>

or as an rqt plugin:


and go to Plugins -> Shadow Robot -> Fingertip Visualizer

This plugin supports presenting the data coming in real time from the Dexterous Hand and from a rosbag.


Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/tactile_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: ]


No message files found.


No service files found


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