| Note: This tutorial assumes that you have completed the previous tutorials: Starting a set of Controllers. |
Controlling the EtherCAT Hand
Description: How can you send targets to the EtherCAT hand.Tutorial Level: BEGINNER
Contents
Overview
Once the controllers are started (see the previous Tutorial), you can control the hand by sending targets to the controllers. There's one controller per joint, so you just need to have a publisher per joint you want to publish to.
Using a program
You can look at this example to see how to send a target to a given controller in c++.
Using a GUI
See sr_control_gui.