| Note: This tutorial assumes that you have completed the previous tutorials: ROS tutorials. |
Running the Hand and Arm Interface
Description: This tutorial is an introduction on how to run the Hand and Arm interface. It explains how to change from the simulated to the real interface.Tutorial Level: BEGINNER
Next Tutorial: First examples on how to interact with the Robot, through a GUI or simple programs. Moving the Robot
Contents
Compiling
Start by getting the dependencies and compiling the interface.
$ rosdep install sr_hand $ rosmake sr_hand
Starting the interface
Starting the hand
To start the hand ROS interface, just run:
$ roslaunch sr_hand srh_motor.launch
or, if you're more interested by the muscle hand:
$ roslaunch sr_hand srh_muscle.launch
Starting the hand and arm
To start the Hand and Arm ROS interface, just run:
$ roslaunch sr_hand sr_arm_motor.launch
or if you want to use an arm and our muscle hand:
$ roslaunch sr_hand sr_arm_muscle.launch
Visualizing the data
To visualize the data using rviz, just run (replace motor by muscle if using the muscle hand):
$ roslaunch sr_hand rviz_motor.launch
To get the correct topics and parameters in rviz, just go to File->Open Config and use this config file.
Running a different model of the hand
There are different models of the hand available (one finger unit, etc...). To use the single finger, just prepend ONE_FINGER=1 to the previous roslaunch commands:
$ ONE_FINGER=1 roslaunch sr_hand srh_motor.launch $ ONE_FINGER=1 roslaunch sr_hand rviz_motor.launch
To use the left hand model pre-pend LEFT_HAND=1 to the roslaunch:
$ LEFT_HAND=1 roslaunch sr_hand srh_motor.launch $ LEFT_HAND=1 roslaunch sr_hand srh_muscle.launch $ LEFT_HAND=1 roslaunch sr_hand sr_arm_motor.launch $ LEFT_HAND=1 roslaunch sr_hand sr_arm_muscle.launch
NB: This should be configured by default on your system if you get it from us.