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 1.4.0
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr_core.git
VCS Type git
VCS Version noetic-devel
Last Updated 2021-06-09
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

sr_utilities contains different useful header libraries (math libraries, etc...).

Additional Links

Maintainers

  • Shadow Robot's software team

Authors

  • Ugo Cupcic

sr_utilities

This package contains utility libraries. There are examples of using python implementation of HandFinder utility in HandCommander and RobotCommander. Check the test file for an example of using C++ implementation of HandFinder.

ROS interface

Controller Spawner

controller_spawner.py spawns the ROS controllers necessary for Shadow dexterous hands, based on a config file.

The default config file is in sr_interface/sr_robot_launch/config/controller_spawner.yaml. The config file contains all possible ROS controllers, organised into controller groups. You can specify a different config file using the config_file_path parameter.

When the controller spawner is run, it finds any running Shadow dexterous hands, and based on the controller_group parameter, launches the subset of controllers appropriate for the joints in the running hands. It also puts any relevant controller parameters defined in the controller_configs section of the config file on the parameter server.

Other controller groups defined in the config file are also stored on the ROS parameter server under /controller_groups for ease of controller group switching later.

Any controllers defined in the config file, relevant to the currently running hands, but not part of the requested controller group will be stopped.

Wrist joints can be excluded from the launched controllers using the exclude_wrist parameter.

How long the spawner waits for controller management services to come up is defined by the service_timeout parameter.

The wait_for parameter can be used to specify the name of a topic that the spawner will wait for before attempting to spawn controllers.

Examples:
For trajectory and position controllers

rosrun sr_utilities controller_spawner.py _controller_group:=trajectory

Spawns only the position controllers

rosrun sr_utilities controller_spawner.py _controller_group:=position

In some cases it may be better to control the wrist joints with the arm trajectory. To remove the joints from the hand trajectory set a private parameter ~exclude_wrist to true.

rosrun sr_utilities controller_spawner.py _exclude_wrist:=true

CHANGELOG

Changelog for package sr_utilities

1.4.0 (2015-04-07)

  • initialize commands to current state

1.3.1 (2014-07-18)

1.3.0 (2014-02-11)

  • first hydro release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged sr_utilities at answers.ros.org

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_core.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-04-27
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

sr_utilities contains different useful header libraries (math libraries, etc...).

Additional Links

Maintainers

  • Shadow Robot's software team

Authors

  • Ugo Cupcic

sr_utilities

This package contains utility libraries. There are examples of using python implementation of HandFinder utility in HandCommander and RobotCommander. Check the test file for an example of using C++ implementation of HandFinder.

ROS interface

Controller Spawner

controller_spawner.py spawns the ROS controllers necessary for Shadow dexterous hands, based on a config file.

The default config file is in sr_interface/sr_robot_launch/config/controller_spawner.yaml. The config file contains all possible ROS controllers, organised into controller groups. You can specify a different config file using the config_file_path parameter.

When the controller spawner is run, it finds any running Shadow dexterous hands, and based on the controller_group parameter, launches the subset of controllers appropriate for the joints in the running hands. It also puts any relevant controller parameters defined in the controller_configs section of the config file on the parameter server.

Other controller groups defined in the config file are also stored on the ROS parameter server under /controller_groups for ease of controller group switching later.

Any controllers defined in the config file, relevant to the currently running hands, but not part of the requested controller group will be stopped.

Wrist joints can be excluded from the launched controllers using the exclude_wrist parameter.

How long the spawner waits for controller management services to come up is defined by the service_timeout parameter.

The wait_for parameter can be used to specify the name of a topic that the spawner will wait for before attempting to spawn controllers.

Examples:
For trajectory and position controllers

rosrun sr_utilities controller_spawner.py _controller_group:=trajectory

Spawns only the position controllers

rosrun sr_utilities controller_spawner.py _controller_group:=position

In some cases it may be better to control the wrist joints with the arm trajectory. To remove the joints from the hand trajectory set a private parameter ~exclude_wrist to true.

rosrun sr_utilities controller_spawner.py _exclude_wrist:=true

CHANGELOG

Changelog for package sr_utilities

1.4.0 (2015-04-07)

  • initialize commands to current state

1.3.1 (2014-07-18)

1.3.0 (2014-02-11)

  • first hydro release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged sr_utilities 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.

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_core.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-04-16
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

sr_utilities contains different useful header libraries (math libraries, etc...).

Additional Links

Maintainers

  • Shadow Robot's software team

Authors

  • Ugo Cupcic

sr_utilities

This package contains utility libraries. There are examples of using python implementation of HandFinder utility in HandCommander and RobotCommander. Check the test file for an example of using C++ implementation of HandFinder.

ROS interface

trajectory_controller_spawner.py checks the hands installed on the system (with HandFinder library) and finds the actual hand joints by parsing the URDF from parameter server (robot_description). It the position controllers for joints are not spawned the node spawn them. Afterwards it checks the parameter server for ~hand_trajectory parameter and if it exists and its value is true it will spawn the trajectory controller for the hands.
If only the position controllers are required, node can be run without the ~hand_trajectory parameter or setting its value to false.
Examples:
For trajectory and position controllers

rosrun sr_utilities trajectory_controller_spawner.py _hand_trajectory:=true

Spawns only the position controllers

rosrun sr_utilities trajectory_controller_spawner.py _hand_trajectory:=false

In some cases it may be better to control the wrist joints with the arm trajectory. To remove the joints from the hand trajectory set a private parameter ~exclude_wrist to true.

rosrun sr_utilities trajectory_controller_spawner.py _exclude_wrist:=true
CHANGELOG

Changelog for package sr_utilities

1.4.0 (2015-04-07)

  • initialize commands to current state

1.3.1 (2014-07-18)

1.3.0 (2014-02-11)

  • first hydro release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged sr_utilities at answers.ros.org

Package Summary

Tags No category tags.
Version 1.3.5
License GPL
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-ros-interface.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-09-29
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

sr_utilities contains different useful header libraries (math libraries, etc...).

Additional Links

Maintainers

  • Shadow Robot's software team

Authors

  • Ugo Cupcic
README
No README found. See repository README.
CHANGELOG

Changelog for package sr_utilities

1.3.5 (2014-09-22)

1.3.4 (2014-09-19)

1.3.3 (2014-09-19)

  • Non-existent version (used to avoid version number conflict with indigo).

1.3.2 (2014-09-19)

  • Non-existent version (used to avoid version number conflict with indigo).

1.3.1 (2014-09-19)

  • Non-existent version (used to avoid version number conflict with indigo).

1.3.0 (2014-02-11)

  • first hydro release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged sr_utilities at answers.ros.org

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_core.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2019-11-28
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

sr_utilities contains different useful header libraries (math libraries, etc...).

Additional Links

Maintainers

  • Shadow Robot's software team

Authors

  • Ugo Cupcic

sr_utilities

This package contains utility libraries. There are examples of using python implementation of HandFinder utility in HandCommander and RobotCommander. Check the test file for an example of using C++ implementation of HandFinder.

ROS interface

trajectory_controller_spawner.py checks the hands installed on the system (with HandFinder library) and finds the actual hand joints by parsing the URDF from parameter server (robot_description). It the position controllers for joints are not spawned the node spawn them. Afterwards it checks the parameter server for ~hand_trajectory parameter and if it exists and its value is true it will spawn the trajectory controller for the hands.
If only the position controllers are required, node can be run without the ~hand_trajectory parameter or setting its value to false.
Examples:
For trajectory and position controllers

rosrun sr_utilities trajectory_controller_spawner.py _hand_trajectory:=true

Spawns only the position controllers

rosrun sr_utilities trajectory_controller_spawner.py _hand_trajectory:=false

In some cases it may be better to control the wrist joints with the arm trajectory. To remove the joints from the hand trajectory set a private parameter ~exclude_wrist to true.

rosrun sr_utilities trajectory_controller_spawner.py _exclude_wrist:=true
CHANGELOG

Changelog for package sr_utilities

1.4.0 (2015-04-07)

  • initialize commands to current state

1.3.1 (2014-07-18)

1.3.0 (2014-02-11)

  • first hydro release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged sr_utilities at answers.ros.org