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This package contains the ROS control node and its structures to control the qb SoftHand Research or the qb SoftHand2 Research device. It exploits the features provided by the base device-independent control library (cf. qb_device_control) and the specific hardware interface (cf. qb_hand_hardware_interface).

Launch files

The launch files start a ROS node for the qb SoftHand Research or the qb SoftHand2 Research to control it through a GUI and through predefined configurable waypoints (stored in the config/qbhand_waypoints.yaml). In both cases the controllers setup can be found in the config/qbhand_controllers.yaml; it is recommended not to change the default settings though.

gui_control

This launch file calls the template full_bringup with the default settings to bringup a full control node for the device based on GUI inputs. It also starts the Communication Handler and therefore it is recommended not to start other driver nodes while using this one (cf. qb_chain to control several devices together).

waypoint_control

This launch file calls the template full_bringup with the default settings to bringup a full control node for the device based on waypoint inputs. It also starts the Communication Handler and therefore it is recommended not to start other driver nodes while using this one (cf. qb_chain to control several devices together).

Nodes and API

qb_hand_control

This control library specifically designed for the robotic hand extends the qb_device_control and exploits the qb_hand_hardware_interface, therefore it provides all the ROS resources and requires all the specifications of this two base packages.