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mia_hand_bringup package from mia_hand_ros_pkgs repo

mia_hand_bringup mia_hand_description mia_hand_driver mia_hand_gazebo mia_hand_moveit_config mia_hand_msgs mia_hand_ros_control mia_hand_ros_pkgs

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Wiki

Package Summary

Tags	No category tags.
Version	1.0.2
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://bitbucket.org/prensiliasrl/mia_hand_ros_pkgs.git
VCS Type	git
VCS Version	master
Last Updated	2024-01-15
Dev Status	MAINTAINED
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

Package for grouping together all Mia Hand config and launch files.

Additional Links

Maintainers

Andrea Burani
Francesca Cini

Authors

Andrea Burani

mia_hand_bringup/README.md

mia_hand_bringup

This package contains the launch files of the Mia Hand.

to launch the node drive of the real Mia hand and send serial commands directly to the hand please use:
```
roslaunch mia_hand_bringup mia_hand_driver_node.launch
```
See readme file and documentation of the mia_hand_driver pkg for further details.
to launch the control loop (frequency 20Hz), the hardware interface of the real Mia Hand with ros controllers please use:
```
roslaunch mia_hand_bringup mia_hand_hw.launch
roslaunch mia_hand_bringup mia_hand_hw_traj.launch
roslaunch mia_hand_bringup mia_hand_hw_moveit.launch
```
See readme file and documentation of the mia_hand_ros_control pkg for further details. Please note that to these launch files load the mia joint transmission YAML configuration file (stored in the mia_hand_description/calibration folder) to the parameter server.
to launch the control the simulation of the Mia hand within Gazebo with controllers please use:
```
  roslaunch mia_hand_bringup mia_hand_Sim.launch
  roslaunch mia_hand_bringup mia_hand_Sim_traj.launch
```
See readme file and documentation of the mia_hand_gazebo pkg for further details. Please note that to these launch files load the mia joint transmission YAML configuration file (stored in the mia_hand_description/calibration folder) to the parameter server.

Please, in order to properly control the mia hand hardware, set the serial low_latency flag:
```
  setserial /dev/<tty_name> low_latency
```
To load the calibration files (joint_limits.yaml and transmission_config.yaml) provided with every Mia Hand, copy and past them within the folder mia_hand_description/calibration. If you want to modify the default name of these files, use the arguments “joint_limits_config_filename” and “transmission_config_filename” of the launch files to provide the new file names.

To select right or left versios of Mia Hand use the argument right_hand (True or False) of the launch file.

CHANGELOG

Changelog for package mia_hand_bringup

1.0.2 (2022-02-07)

1.0.1 (2022-02-07)

Merge branch 'master' of bitbucket.org:prensiliasrl/mia_hand_ros_pkgs
Update trajectory velocity controllers (also for moveit).
Contributors: Andrea Burani, frcini

1.0.0 (2022-01-25)

1.0.0
Updated CHANGELOG files.
Updated CHANGELOG files.
Added srv dependency to mia_hand_driver and joint_state_interface to mmia_hand_description. Added wiki url links.
1.0.0
Added ChangeLog files of each pkg.
Initial commit.
Fix package xml files.
Initial commit.
Contributors: Andrea Burani, frcini

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	mia_hand_driver
	mia_hand_description
	mia_hand_gazebo
	mia_hand_ros_control

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
mia_hand_ros_pkgs

Launch files

launch/mia_hand_hw.launch
- - Mia_COM_ [default: 0] — Int number of the Mia hand COM port
  - Mia_fs_ [default: 20] — Hz, frequency of the control loop of the Mia Hw interface
  - robotNamespace [default: mia_hand_hw]
  - load_default_mia_model [default: false]
  - right_hand [default: true] — True for right hand False otherwise
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of Mia Hand
  - controller_thumb_fle [default: pos_vel] — type of controller for thumb flexion. Values: position, velocity, pos_vel
  - controller_index_fle [default: pos_vel] — type of controller for index flexion. Values: position, velocity, pos_vel
  - controller_mrl_fle [default: pos_vel] — type of controller for mrl flexion. Values: position, velocity, pos_vel
  - Rviz_on [default: false] — If true, start Rviz to plot Mia hand joint state
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
launch/mia_hand_Sim.launch
- - Rviz_on [default: true] — If true, start Rviz and the joint state gui
  - use_joint_gui [default: false] — If true, start Rviz and the joint state gui
  - paused [default: false]
  - use_sim_time [default: true]
  - Gazebo_gui [default: true]
  - headless [default: false]
  - debug [default: false]
  - robotNamespace [default: mia_hand_sim]
  - load_default_mia_model [default: false]
  - right_hand [default: false] — True to for right hand False otherwise
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
  - hw_interface_thumb_fle [default: VelocityJointInterface] — type of hardware interface for thumb flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - hw_interface_index_fle [default: VelocityJointInterface] — type of hardware interface for index flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - hw_interface_mrl_fle [default: VelocityJointInterface] — type of hardware interface for mrl flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - controller_thumb_fle [default: velocity] — type of controller for thumb flexion. Values: position, velocity, eff, eff_position, (eff_velocity has not been tuned)
  - controller_index_fle [default: velocity] — type of controller for index flexion + thumb abd. Values: position,velocity,eff, eff_position, (eff_velocity has not been tuned)
  - controller_mrl_fle [default: velocity] — type of controller for mrl fingers flexion. Values: position, velocity, eff, eff_position,(eff_velocity has not been tuned)
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
launch/mia_hand_Sim_traj.launch
- - Rviz_on [default: true] — If true, start Rviz and the joint state gui
  - use_joint_gui [default: false] — If true, start Rviz and the joint state gui
  - paused [default: false]
  - use_sim_time [default: true]
  - Gazebo_gui [default: true]
  - headless [default: false]
  - debug [default: false]
  - UR_Flange [default: false] — true to visualize the UR flange with the Mia Hand
  - robotNamespace [default: mia_hand_sim]
  - load_default_mia_model [default: false]
  - right_hand [default: false] — True to for right hand False otherwise
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
  - tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos, eff
  - eff_interface [default: false] — Set true when use tc_type eff to load effort interface
  - hw_interface_thumb_fle [default: EffortJointInterface] — type of hardware interface for thumb flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - hw_interface_index_fle [default: EffortJointInterface] — type of hardware interface for index flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - hw_interface_mrl_fle [default: EffortJointInterface] — type of hardware interface for mrl flexion. Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
  - hw_interface_thumb_fle [default: PositionJointInterface] — Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - hw_interface_index_fle [default: PositionJointInterface] — Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - hw_interface_mrl_fle [default: PositionJointInterface] — Values: EffortJointInterface, PositionJointInterface VelocityJointInterface
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
launch/mia_hand_hw_traj.launch
- - Mia_COM_ [default: 0] — Int number of the Mia hand COM port
  - Mia_fs_ [default: 20] — Hz, frequency of the control loop of the Mia Hw interface
  - robotNamespace [default: mia_hand_hw]
  - load_default_mia_model [default: false]
  - right_hand [default: true] — True for right hand False otherwise
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
  - tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos
  - Rviz_on [default: false] — If true, start Rviz to plot Mia hand joint state
  - joint_limits_config_filename [default: joint_limits.yaml] — name of the yaml file to calibrate joints limit of URDF file
  - transmission_config_filename [default: transmission_config.yaml] — name of the yaml file to calibrate transmissions of MiaHand
launch/mia_hand_hw_moveit.launch
- - Mia_COM_ [default: 0] — Int number of the Mia hand COM port
  - Mia_fs_ [default: 20] — Hz, frequency of the control loop of the Mia Hw interface
  - robotNamespace [default: mia_hand_hw]
  - load_default_mia_model [default: false]
  - tc_type [default: vel] — type of trajectory controller to launch. Values: vel, pos
launch/mia_hand_driver_node.launch
- - serial_port_num [default: 0] — Number of /dev/ttyUSB serial port to which Mia Hand is connected.

Messages

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Services

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Plugins

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