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No version for distro rolling. Known supported distros are highlighted in the buttons above.
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schunk_simulated_tactile_sensors package from schunk_modular_robotics reposchunk_description schunk_libm5api schunk_modular_robotics schunk_powercube_chain schunk_sdh schunk_simulated_tactile_sensors |
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Package Summary
| Tags | No category tags. |
| Version | 0.6.14 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipa320/schunk_modular_robotics.git |
| VCS Type | git |
| VCS Version | kinetic_dev |
| Last Updated | 2022-05-06 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package provides simulated tactile sensors for the Schunk Dextrous
Hand (SDH) which is mounted on the Care-O-bot arm. The node subscribes to
the Gazebo bumper topics of the SDH. It transforms the Gazebo feedback to
the "tactile_data" topic to provide the same tactile sensor interface as
the schunk_sdh package.
The following parameters can be set:
* cells_x: The number of patches on the tactile sensor in the direction
perpendicular to the finger. Defaults to 6.
* cells_y: The number of patches on the tactile sensor along the direction
of the finger. Defaults to 14.
* output_range: The maximum output value of one patch. Defaults to 3500.
* sensitivity: The change of output in one patch per Newton. Defaults to
350. The sensitivity can be approximated by the following
formula: S = output_range / (measurement_range * cell_area)
- The measurement range of the tactile pads is 250 kPa (from
the data sheet).
- The output range can be determined by experiment from the
real SDH. It is about 3500.
- The cell area is the size of one patch. Length and width
of the area are determined by dividing the length/width
of the collision surface by the number of cells in the
respective direction.
Important: In most cases this is NOT the cell area that is
given in the data sheet!
* filter_length: The length of the moving average filter which smoothes
the values from simulation. Defaults to 10.
The node subscribes to the following topics to receive data from the
simulation:
* thumb_2/state
* thumb_3/state
* finger_12/state
* finger_13/state
* finger_22/state
* finger_23/state
The node publishes the processed data on the following topic:
* tactile_data
The simulated bumper must obtain the collision data in the link that the
sensor is attached to. This is achieved by setting the "frameName" property
in the gazebo_ros_bumper controller.
Additional Links
Maintainers
- Bruno Brito
Authors
- Sven Schneider
README
No README found.
See repository README.
CHANGELOG
Changelog for package schunk_simulated_tactile_sensors
0.6.14 (2019-11-20)
- Merge pull request #215 from ipa320/indigo_release_candidate Indigo release candidate
- Merge branch 'indigo_dev' into indigo_release_candidate
- Merge branch 'indigo_dev' of github.com:ipa320/schunk_modular_robotics into indigo_release_candidate
- Merge pull request #199 from ipa320/indigo_dev Indigo dev
- Contributors: Christian Rauch, Felix Messmer, fmessmer
0.6.13 (2019-08-20)
0.6.12 (2018-08-16)
0.6.11 (2018-07-21)
0.6.10 (2018-01-07)
- Merge pull request #198 from ipa320/indigo_release_candidate Indigo release candidate
- Merge pull request #196 from ipa-fxm/update_maintainer update maintainer
- update maintainer
- Merge pull request #191 from ipa-fxm/APACHE_license use license apache 2.0
- use license apache 2.0
- Contributors: Felix Messmer, Florian Weisshardt, ipa-fxm
0.6.9 (2017-07-17)
- manually fix changelog
- Contributors: ipa-fxm
0.6.8 (2016-10-10)
0.6.7 (2016-04-01)
0.6.6 (2015-09-01)
0.6.5 (2015-08-31)
0.6.4 (2015-08-25)
- migration to package format 2
- remove trailing whitespaces
- remove obsolete autogenerated mainpage.dox files
- sort dependencies
- review dependencies
- Contributors: ipa-fxm
0.6.3 (2015-06-17)
- beautify CMakeLists
- Contributors: ipa-fxm
0.6.2 (2014-12-15)
0.6.1 (2014-09-22)
0.6.0 (2014-09-18)
0.5.6 (2014-08-27)
- catkin_lint'ing
- Contributors: ipa-fxm
0.5.5 (2014-08-26)
- modifications in tranmissions, removing of bumpers and small cleanups
- Contributors: Alexander Bubeck
0.5.4 (2014-03-28)
0.5.3 (2014-03-27)
- install tags
- some catkin_lint
- Contributors: ipa-fxm
0.5.2 (2014-03-27)
- add dep to rostest
- Contributors: Florian Weisshardt
0.5.1 (2014-03-20)
- Adapted topics for simulated tactile sensors.
- installation stuff
- changed to new gazebo_msgs
- Initial catkinization. Still a linking error in sdh lib.
- switched namespace for simulated tactile sensors to dsa_controller (the same as on the robots)
- switched namespace for simulated tactile sensors to dsa_controller (the same as on the robots)
- updated documentation
- schunk_simulated_tactile_sensors: reordered pads to match joint state order
- moved simulated tactile sensors to schunk repository
- Contributors: Mathias Lüdtke, abubeck, ipa-fmw, ipa-mdl, jsanch2s
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 | |
| gazebo_msgs | |
| rospy | |
| schunk_sdh |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| schunk_modular_robotics |
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged schunk_simulated_tactile_sensors at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
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schunk_simulated_tactile_sensors package from schunk_modular_robotics reposchunk_description schunk_libm5api schunk_modular_robotics schunk_powercube_chain schunk_sdh schunk_simulated_tactile_sensors |
|
|
Package Summary
| Tags | No category tags. |
| Version | 0.6.14 |
| License | Apache 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipa320/schunk_modular_robotics.git |
| VCS Type | git |
| VCS Version | kinetic_dev |
| Last Updated | 2022-05-06 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package provides simulated tactile sensors for the Schunk Dextrous
Hand (SDH) which is mounted on the Care-O-bot arm. The node subscribes to
the Gazebo bumper topics of the SDH. It transforms the Gazebo feedback to
the "tactile_data" topic to provide the same tactile sensor interface as
the schunk_sdh package.
The following parameters can be set:
* cells_x: The number of patches on the tactile sensor in the direction
perpendicular to the finger. Defaults to 6.
* cells_y: The number of patches on the tactile sensor along the direction
of the finger. Defaults to 14.
* output_range: The maximum output value of one patch. Defaults to 3500.
* sensitivity: The change of output in one patch per Newton. Defaults to
350. The sensitivity can be approximated by the following
formula: S = output_range / (measurement_range * cell_area)
- The measurement range of the tactile pads is 250 kPa (from
the data sheet).
- The output range can be determined by experiment from the
real SDH. It is about 3500.
- The cell area is the size of one patch. Length and width
of the area are determined by dividing the length/width
of the collision surface by the number of cells in the
respective direction.
Important: In most cases this is NOT the cell area that is
given in the data sheet!
* filter_length: The length of the moving average filter which smoothes
the values from simulation. Defaults to 10.
The node subscribes to the following topics to receive data from the
simulation:
* thumb_2/state
* thumb_3/state
* finger_12/state
* finger_13/state
* finger_22/state
* finger_23/state
The node publishes the processed data on the following topic:
* tactile_data
The simulated bumper must obtain the collision data in the link that the
sensor is attached to. This is achieved by setting the "frameName" property
in the gazebo_ros_bumper controller.
Additional Links
Maintainers
- Bruno Brito
Authors
- Sven Schneider
README
No README found.
See repository README.
CHANGELOG
Changelog for package schunk_simulated_tactile_sensors
0.6.14 (2019-11-20)
- Merge pull request #215 from ipa320/indigo_release_candidate Indigo release candidate
- Merge branch 'indigo_dev' into indigo_release_candidate
- Merge branch 'indigo_dev' of github.com:ipa320/schunk_modular_robotics into indigo_release_candidate
- Merge pull request #199 from ipa320/indigo_dev Indigo dev
- Contributors: Christian Rauch, Felix Messmer, fmessmer
0.6.13 (2019-08-20)
0.6.12 (2018-08-16)
0.6.11 (2018-07-21)
0.6.10 (2018-01-07)
- Merge pull request #198 from ipa320/indigo_release_candidate Indigo release candidate
- Merge pull request #196 from ipa-fxm/update_maintainer update maintainer
- update maintainer
- Merge pull request #191 from ipa-fxm/APACHE_license use license apache 2.0
- use license apache 2.0
- Contributors: Felix Messmer, Florian Weisshardt, ipa-fxm
0.6.9 (2017-07-17)
- manually fix changelog
- Contributors: ipa-fxm
0.6.8 (2016-10-10)
0.6.7 (2016-04-01)
0.6.6 (2015-09-01)
0.6.5 (2015-08-31)
0.6.4 (2015-08-25)
- migration to package format 2
- remove trailing whitespaces
- remove obsolete autogenerated mainpage.dox files
- sort dependencies
- review dependencies
- Contributors: ipa-fxm
0.6.3 (2015-06-17)
- beautify CMakeLists
- Contributors: ipa-fxm
0.6.2 (2014-12-15)
0.6.1 (2014-09-22)
0.6.0 (2014-09-18)
0.5.6 (2014-08-27)
- catkin_lint'ing
- Contributors: ipa-fxm
0.5.5 (2014-08-26)
- modifications in tranmissions, removing of bumpers and small cleanups
- Contributors: Alexander Bubeck
0.5.4 (2014-03-28)
0.5.3 (2014-03-27)
- install tags
- some catkin_lint
- Contributors: ipa-fxm
0.5.2 (2014-03-27)
- add dep to rostest
- Contributors: Florian Weisshardt
0.5.1 (2014-03-20)
- Adapted topics for simulated tactile sensors.
- installation stuff
- changed to new gazebo_msgs
- Initial catkinization. Still a linking error in sdh lib.
- switched namespace for simulated tactile sensors to dsa_controller (the same as on the robots)
- switched namespace for simulated tactile sensors to dsa_controller (the same as on the robots)
- updated documentation
- schunk_simulated_tactile_sensors: reordered pads to match joint state order
- moved simulated tactile sensors to schunk repository
- Contributors: Mathias Lüdtke, abubeck, ipa-fmw, ipa-mdl, jsanch2s
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 | |
| gazebo_msgs | |
| rospy | |
| schunk_sdh |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| schunk_modular_robotics |
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.