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sr_ethercat_hand_config package from sr_config repo

sr_config sr_ethercat_hand_config

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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-config.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-07-08
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_ethercat_hand_config contains the different yaml files storing the parameters used on the etherCAT hand.

Additional Links

Maintainers

  • Shadow Robot's software team

Authors

  • Ugo Cupcic
  • Toni Oliver
sr_ethercat_hand_config/README.md

Hand Configuration

  • Calibrations - Both Left and Right hand calibration files, including the calibration of each joint and the 2 pressure sensors per joint. These are set by Shadow Robot prior to the delivery of a hand and should only be changed by a person that has received training for the calibration procedure.
  • Controls - Yaml files containing definitions for calibration, effort, joint, position and motor controllers
  • Demos - Demo files for store position (demo_rs.py or demo_ls.py), general demo (demo_r.py or demo_l.py), and card trick demo (demo_rc.py).
  • Launch - Launch files for Left/Right/Bimanual hands, specific to an install
  • Mappings - The file which provides the mapping between hand joints and actuators is specified here.
  • Rates - Sensor and actuator update rate files.

Joint to actuator mappings

The mapping files for each type of hand can be found here. The mapping which corresponds to the system that you are launching, i.e. right hand/left hand/motor actuated/muscle actuated, should be specified in the corresponding lh (left hand) or rh (right hand) load_joint_mapping.xml, in the mappings directory.

Changing the joint to actuator mapping should be done with caution, as an incorrect mapping could cause damage to the hand.

Launching a hand

This directory includes launch files for left hand/right hand/bimanual systems.

The ethernet port in which the hand is connected is specified in the launch file. If the port is changed, then it should be edited here. The hand_serial parameter is hand specific, so should only be changed if launching a different hand. To find the hand serial you can launch the hand without the hand_serial argument and then check the program output. You should see something like:

Trying to read mapping for: /hand/mapping/1178

To launch a right hand, run:

roslaunch sr_ethercat_hand_config sr_rhand.launch

To launch a left hand:

roslaunch sr_ethercat_hand_config sr_lhand.launch

And for a bimanual system:

roslaunch sr_ethercat_hand_config sr_system.launch

Running a demo

The demo scripts can be run via rosrun, with a command of the following format:

For the right hand:

rosrun sr_ethercat_hand_config demo_r.py

And for the left hand:

rosrun sr_ethercat_hand_config demo_l.py
CHANGELOG

Changelog for package sr_ethercat_hand_config

1.4.0 (2015-04-07)

  • Fix J0 names for effort controllers
  • Fix diagnostics prefix
  • Add bimanual diagnostic analyzer
  • Add pwm_control argument
  • Adapt config files to bimanual single loop
  • adding tactile controller config for easier customer customisation

1.3.0 (2014-02-14)

  • first hydro release

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

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
sr_config
sr_utilities
sr_edc_controller_configuration
sr_edc_launch
sr_robot_lib

Recent questions tagged sr_ethercat_hand_config at Robotics Stack Exchange