shadow_robot_ethercat repository

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-ros-interface-ethercat.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-10-29
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)

README

CI Statuses

Check Status
Documentation Documentation Status
Build
Style
Code Coverage

Shadow Robot - EtherCAT driver

This stack focuses on the drivers for our etherCAT hand.

Warning: be careful when starting the hand. Make sure you're using the proper config files or you might damage the hardware. If in doubt contact us!

Launching the Hand Driver

  • sr_edc.launch Launches a single hand

  • sr_edc_bimanual.launch Launches 2 hands (as part of the same bimanual robot)

Use

Direct use

For a single hand, with default parameters:

roslaunch sr_edc_launch sr_edc.launch

For a bimanual system you will need to specify at least the serial numbers for the right and left hand:

roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235

Use from another launchfile

E.g. for a bimanual system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc_bimanual.launch" >
    <arg name="rh_serial" value="1234" />
    <arg name="lh_serial" value="1235" />
    <arg name="eth_port" value="eth0_eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro" />
  </include>
</launch>

E.g. for a single hand system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc.launch" >
    <arg name="eth_port" value="eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/shadowhand_motor_biotac.urdf.xacro" />
  </include>
</launch>

Available arguments for sr_edc_bimanual.launch

  • eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235 eth_port:=eth0_eth1

  • debug: Set to true for debugging
  • calibration_controllers: Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand)
  • robot_description: Xacro file containing the robot description we want to load
  • pwm_control: The control mode PWM (true) or torque (false)
  • rh_serial: The ethercat serial number for the right hand
  • rh_id: The id for the right hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.
  • lh_serial: The ethercat serial number for the left hand
  • lh_id: The id for the left hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.

Available arguments for sr_edc.launch

  • eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
  • debug: Set to true for debugging
  • calibration_controllers: Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand)
  • robot_description: Xacro file containing the robot description we want to load
  • pwm_control: The control mode PWM (true) or torque (false)

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-ros-interface-ethercat.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-01-14
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)

README

Service Status
Documentation Documentation Status
Code style checks Circle CI
Unit tests Build Status
Install tests Build Status

Shadow Robot - EtherCAT driver

This stack focuses on the drivers for our etherCAT hand.

Warning: be careful when starting the hand. Make sure you're using the proper config files or you might damage the hardware. If in doubt contact us!

Launching the Hand Driver

  • sr_edc.launch Launches a single hand

  • sr_edc_bimanual.launch Launches 2 hands (as part of the same bimanual robot)

Use

Direct use

For a single hand, with default parameters:

roslaunch sr_edc_launch sr_edc.launch

For a bimanual system you will need to specify at least the serial numbers for the right and left hand:

roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235

Use from another launchfile

E.g. for a bimanual system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc_bimanual.launch" >
    <arg name="rh_serial" value="1234" />
    <arg name="lh_serial" value="1235" />
    <arg name="eth_port" value="eth0_eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro" />
  </include>
</launch>

E.g. for a single hand system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc.launch" >
    <arg name="eth_port" value="eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/shadowhand_motor_biotac.urdf.xacro" />
  </include>
</launch>

Available arguments for sr_edc_bimanual.launch

  • eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235 eth_port:=eth0_eth1

  • debug: Set to true for debugging
  • calibration_controllers: Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand)
  • robot_description: Xacro file containing the robot description we want to load
  • pwm_control: The control mode PWM (true) or torque (false)
  • rh_serial: The ethercat serial number for the right hand
  • rh_id: The id for the right hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.
  • lh_serial: The ethercat serial number for the left hand
  • lh_id: The id for the left hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.

Available arguments for sr_edc.launch

  • eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
  • debug: Set to true for debugging
  • calibration_controllers: Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand)
  • robot_description: Xacro file containing the robot description we want to load
  • pwm_control: The control mode PWM (true) or torque (false)

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-ros-interface-ethercat.git
VCS Type git
VCS Version indigo-devel
Last Updated 2019-06-26
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)

README

Service Status
Documentation Documentation Status
Code style checks Circle CI
Unit tests Build Status
Install tests Build Status
Code Coverage codecov.io

Shadow Robot - EtherCAT driver

This stack focuses on the drivers for our etherCAT hand.

Warning: be careful when starting the hand. Make sure you're using the proper config files or you might damage the hardware. If in doubt contact us!

Launching the Hand Driver

  • sr_edc.launch Launches a single hand

  • sr_edc_bimanual.launch Launches 2 hands (as part of the same bimanual robot)

Use

Direct use

For a single hand, with default parameters:

roslaunch sr_edc_launch sr_edc.launch

For a bimanual system you will need to specify at least the serial numbers for the right and left hand:

roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235

Use from another launchfile

E.g. for a bimanual system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc_bimanual.launch" >
    <arg name="rh_serial" value="1234" />
    <arg name="lh_serial" value="1235" />
    <arg name="eth_port" value="eth0_eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro" />
  </include>
</launch>

E.g. for a single hand system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc.launch" >
    <arg name="eth_port" value="eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/shadowhand_motor_biotac.urdf.xacro" />
  </include>
</launch>

Available arguments for sr_edc_bimanual.launch

  • eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235 eth_port:=eth0_eth1

  • debug: Set to true for debugging
  • calibration_controllers: Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand)
  • robot_description: Xacro file containing the robot description we want to load
  • pwm_control: The control mode PWM (true) or torque (false)
  • rh_serial: The ethercat serial number for the right hand
  • rh_id: The id for the right hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.
  • lh_serial: The ethercat serial number for the left hand
  • lh_id: The id for the left hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.

Available arguments for sr_edc.launch

  • eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
  • debug: Set to true for debugging
  • calibration_controllers: Set to 0 if we don't want to run calibration controllers (e.g. for the muscle hand)
  • robot_description: Xacro file containing the robot description we want to load
  • pwm_control: The control mode PWM (true) or torque (false)

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/shadow-robot/sr-ros-interface-ethercat.git
VCS Type git
VCS Version hydro-devel
Last Updated 2014-09-19
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)

README

No README found.

CONTRIBUTING

No CONTRIBUTING.md found.