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barrett_hand: bhand_controller | bhand_description | rqt_bhand

Package Summary

The bhand_controller package is intended to control the Barrett Hand

  • Maintainer: Román Navarro <rnavarro AT robotnik DOT es>, Jorge Ariño <jarino AT robotnik DOT es>
  • Author: Román Navarro <rnavarro AT robotnik DOT es>, Jorge Ariño <jarino AT robotnik DOT es>
  • License: BSD
  • Source: git https://github.com/RobotnikAutomation/barrett_hand.git (branch: groovy-devel)
barrett_hand: bhand_controller | bhand_description | rqt_bhand

Package Summary

The bhand_controller package is intended to control the Barrett Hand

barrett_hand: bhand_controller | rqt_bhand

Package Summary

The bhand_controller package is intended to control the Barrett Hand

barrett_hand: bhand_controller | rqt_bhand

Package Summary

The bhand_controller package is intended to control the Barrett Hand

Overview

This controller for the Barrett Hand is a python node based on the original library pyHand. By using this controller it will be able to set the position or velocity of the motorized joints of the hand and read from all of its sensors (fingertip torque and tactile sensors, temperature) and joint positions.

Configuration

launch file

<?xml version="1.0"?>
<launch>
 
  <node pkg="bhand_controller" type="bhand_node.py" name="bhand_node" output="screen">
      <rosparam command="load" file="$(find bhand_controller)/config/bhand.yaml" />
      <param name="topic_state" value="state" />
      <param name="port" value="/dev/pcanusb0" />
      <param name="tactile_sensors" value="True" />
  </node>
 
</launch>

config file

# Joint ids (don't modify) 
joint_ids: [ F1, F1_TIP, F2, F2_TIP, F3, F3_TIP, SPREAD_1, SPREAD_2]
# Joint names associated with the ids
joint_names: [bh_j12_joint, bh_j13_joint, bh_j22_joint, bh_j23_joint, bh_j32_joint, bh_j33_joint, bh_j11_joint, bh_j21_joint]
# Default control mode
control_mode: POSITION
# Desired freq
desired_freq: 250.0

BHand Joints

Topics

Published

state

tact_array

joint_states

Subscribed

command

Services

Server

actions

set_control_mode


2019-08-17 12:33