sr_hand_detector

Prerequisites

In order to use this package, install it from debian (recommended) or follow steps below:

1. Compile the package
2. Copy both executables of the sr_hand_detector package (found in <your_workspace>/devel/lib/sr_hand_detector) to /usr/local/bin.
3. Give one of the executables capability to access ethernet devices:

sudo setcap cap_net_raw+ep sr_hand_detector_node

sr_hand_detector class

This class allows user to detect Shadow Hands without knowing the ethernet interface or the hand serial. Usage:

sr_hand_detector_node

Example output:

Detected hand on port: enx000ec653b31a
Hand's serial number: 634

Apart from the console output, all detected hand ethernet port names together with corresponding hand serial numbers will be set inside of the /tmp/sr_hand_detector.yaml file.

If there are no hands detected on any of the ports, a warning will be shown:

No hand detected on any of the ports!

sr_hand_autodetect class

This class allows user to run Shadow Robot launch files without providing information like hand serial, ethercat port or hand side. Example usage:

sr_hand_autodetect roslaunch sr_robot_launch srhand.launch sim:=false

which is equivalent to:

roslaunch sr_robot_launch srhand.launch sim:=false eth_port:=<eth_port> hand_serial:=<hand_serial> side:=<hand_side> hand_type:=<hand_type> mapping_path:=<mapping_path>

If there are two hands connected and user wants to run only one of them using autodetection, there are --right-only (or -r) and --left-only (or -l) flags available, e.g.:

sr_hand_autodetect --right-only roslaunch sr_robot_launch srhand.launch sim:=false