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sr_utilities package from sr_core reposr_core sr_gazebo_sim sr_hand sr_hardware_interface sr_mechanism_controllers sr_mechanism_model sr_tactile_sensors sr_utilities |
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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_core.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2019-11-28 |
| Dev Status | UNMAINTAINED |
| 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
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 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
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 2 | sensor_msgs | |
| 2 | sr_robot_msgs | |
| 1 | rospy | |
| 1 | roscpp | |
| 1 | tf | |
| 2 | urdfdom_py | |
| 3 | urdf | |
| 1 | ros_ethercat_model | |
| 1 | catkin | |
| 1 | rostest | |
| 1 | sr_ethercat_hand_config |
System Dependencies
| Name |
|---|
| gtest |
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged sr_utilities at Robotics Stack Exchange
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|
sr_utilities package from sr_core reposr_core sr_gazebo_sim sr_hand sr_hardware_interface sr_mechanism_controllers sr_mechanism_model sr_tactile_sensors sr_utilities |
|
|
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 | 2021-12-13 |
| 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
- 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 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
Source Tutorials
Package Dependencies
System Dependencies
| Name |
|---|
| gtest |