schunk_modular_robotics: CANOpen_driver | schunk_description | schunk_libm5api | schunk_powercube_chain | schunk_sdh | schunk_simulated_tactile_sensors
Package Summary
This package provides an interface for operating the schunk dexterous hand (SDH), including the tactile sensors.
- Author: Florian Weisshardt
- License: LGPL
- Repository: care-o-bot
- Source: git git://github.com/ipa320/schunk_modular_robotics.git
Contents
Hardware Requirements
To use this package you need a schunk dexterous hand www.schunk-modular-robotics.com with firmware version 0.0.2.18. Other firmware versions may work, but are not officially supported. Alternatively you can use a simulated version without any hardware, see cob_gazebo.
ROS API
The schunk_sdh package provides a configurable node for operating a schunk dexterous hand.
schunk_sdh
The schunk_sdh node takes in trajectory_msgs/JointTrajectory messages and send this directly to the hardware. The joint states can be received by topics and the sdh can be initialized, stopped or recovered via services.Action Goal
joint_trajectory_action/goal (pr2_controllers_msgs/JointTrajectoryActionGoal)- The goal describes the trajectory for the sdh to follow.
Action Result
joint_trajectory_action/result (pr2_controllers_msgs/JointTrajectoryActionResult)- empty
Action Feedback
joint_trajectory_action/feedback (pr2_controllers_msgs/JointTrajectoryActionFeedback)- empty
Subscribed Topics
command (trajectory_msgs/JointTrajectory)- Receives direct commands.
Published Topics
/joint_states (sensor_msgs/JointState)- Publishes the joint states of all joints.
Services
init (cob_srvs/Trigger)- Initializes the node and connects to the hardware.
- Stops immediately all hardware movements.
- Recovers the hardware after an emergency stop.
- Sets the operation mode for the node.
Parameters
~sdhdevicestring (string, default: Required)- Device identifier for hand, e.g. /dev/pcan32
- Device identifier for tactile sensors, e.g. /dev/ttyUSB0
- Baudrate of can module, e.g. 1000, 500,...
- List of joint names corresponding to urdf description, e.g. [sdh_thumb_3_joint, sdh_finger_11_joint,...]
- Operation mode of the modules, e.g. position, velocity
- Urdf model of the robot, including the joints and links describing the sdh
Usage/Examples
This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. schunk_bringup in the schunk_robots stack. For using only the sdh use
roslaunch schunk_bringup sdh_solo.launch
For including the sdh in your overall launch file use
<include file="$(find schunk_bringup)/components/sdh.launch" />
All hardware configuration is done in the schunk_hardware_config package. A sample parameter file in "schunk_hardware_config/sdh/config/sdh.yaml" could look like this
sdhdevicetype: PCAN sdhdevicestring: /dev/pcan0 dsadevicestring: /dev/ttyS0 baudrate: 1000000 joint_names: ['sdh_knuckle_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint'] OperationMode: position frequency: 5