sr_hand_detector

Prerequisites

In order to use this package, install it from debian (recommended) or follow steps below:

1. Compile the package
2. Copy both executables of the sr_hand_detector package (found in <your_workspace>/devel/lib/sr_hand_detector) to /usr/local/bin.
3. Give one of the executables capability to access ethernet devices:

sudo setcap cap_net_raw+ep sr_hand_detector_node

sr_hand_detector class

This class allows user to detect Shadow Hands without knowing the ethernet interface or the hand serial. Usage:

sr_hand_detector_node

Example output:

Detected hand on port: enx000ec653b31a
Hand's serial number: 634

Apart from the console output, all detected hand ethernet port names together with corresponding hand serial numbers will be set inside of the /tmp/sr_hand_detector.yaml file.

If there are no hands detected on any of the ports, a warning will be shown:

No hand detected on any of the ports!

sr_hand_autodetect class

This class allows user to run Shadow Robot launch files without providing information like hand serial, ethercat port or hand side. Example usage:

sr_hand_autodetect roslaunch sr_robot_launch srhand.launch sim:=false

which is equivalent to:

roslaunch sr_robot_launch srhand.launch sim:=false eth_port:=<eth_port> hand_serial:=<hand_serial> side:=<hand_side> hand_type:=<hand_type> mapping_path:=<mapping_path>

If there are two hands connected and user wants to run only one of them using autodetection, there are --right-only (or -r) and --left-only (or -l) flags available, e.g.:

sr_hand_autodetect --right-only roslaunch sr_robot_launch srhand.launch sim:=false

Changelog for package sr_hand_detector

0.0.9 (2021-12-20)

• Adding optional side forcing (#32)
• Contributors: mikramarc

0.0.8 (2021-11-30)

• Adjusting to new xacros (#29) Co-authored-by: georgiablanco <<georgia@shadowrobot.com>>
• Adding executables to package lib (#26)
• Contributors: mikramarc

0.0.7 (2021-09-09)

• Adding executables to package lib (#26)
  • Adding executables to package lib
  • Update CMakeLists.txt
  • fixing build
• Contributors: mikramarc

0.0.6 (2021-08-06)

• Adding some necessary functionalities (#23)
  • adding some necessary functionalities
  • updating readme
  • minor cleanup
  • fixing typo

0.0.5 (2021-08-03)

• Changing CMake to appropriate version (#21)

0.0.4 (2021-08-02)

0.0.3 (2020-12-08)

• Update postinst (#14)

0.0.2 (2020-10-01)

• Fixing rosfarm build (#11)

• Update CMakeLists.txt (#10)

• Update package.xml (#9)

• fixing tests (#8) fixing tests

• fixing rosfarm build (#7)

  • fixing rosfarm build
  • fixing doc
  • fixing build

• F fixing autodetection (#5)

  • fixing detection for one hand
  • adding debug code
  • fixing bug
  • removing debug code

  * fixing lint Co-authored-by: Your Name <<you@example.com>> Co-authored-by: ethanfowler <<ethan@shadowrobot.com>>

• 0.0.1 (#6) Co-authored-by: mikramarc <<michal@shadowrobot.com>>

• adding changelog (#4)

• Set license to GNU v2 as is our standard (#3)

  • Delete LICENSE
  • Create LICENSE

• Rename aws.yaml to aws.yml

• Adding code (#2)

  • Adding code
  • adding postinst

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