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Note: This tutorial assumes that you have completed the previous tutorials: ROS tutorials.
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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

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Contents

  1. Compiling
  2. Starting the interface
    1. Starting the hand
    2. Starting the hand and arm
  3. Visualizing the data
  4. Running a different model of the hand

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.

Shadow Robot's Hand and Arm in Rviz

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.

Contents

  1. Starting the interface
    1. Starting the hand
    2. Starting the hand and arm
  2. Visualising the data
    1. Gazebo
    2. RVIZ
  3. Running a different model of the hand

Starting the interface

Starting the hand

There is no longer a dummy hand interface under Fuerte, you should directly run the Gazebo interface: 

$ roslaunch sr_hand gazebo_hand.launch

Starting the hand and arm

To start the Hand and Arm ROS interface, just run: 

$ roslaunch sr_hand gazebo_arm_and_hand.launch

Visualising the data

You have two options for visualising the model of the hand:

Gazebo

To visualize the data using Gazebo, which allows you to carry out manipulation of simulated objects, run: 

$ rosrun gazebo gui

RVIZ

To visualize the data using rviz, which allows you to display other data along side the model, run: 

$ rosrun rviz rviz

You can then use this config file to setup your display correctly. If you are using the arm and hand system you will need to change the fixed frame to /world.

Running a different model of the hand

There are different models of the hand available (one finger unit, etc...). To use these you need to edit the env_variables.bashrc file in sr_config/bashrc.

NB: This should be configured by default on your system if you get it from us.

Our stacks have not yet been released under Groovy, please use the Fuerte versions.

Our stacks have not yet been released under Hydro, please use the Fuerte versions.
2020-01-25 13:12