Ecosyste.ms: Awesome
An open API service indexing awesome lists of open source software.
https://github.com/knorth55/softhand_ros
[This project is merged to https://github.com/jsk-ros-pkg/jsk_robot] ROS package for softhand
https://github.com/knorth55/softhand_ros
ros softhand
Last synced: 17 days ago
JSON representation
[This project is merged to https://github.com/jsk-ros-pkg/jsk_robot] ROS package for softhand
- Host: GitHub
- URL: https://github.com/knorth55/softhand_ros
- Owner: knorth55
- License: bsd-3-clause
- Created: 2019-11-03T13:03:46.000Z (about 5 years ago)
- Default Branch: master
- Last Pushed: 2022-07-21T06:22:51.000Z (over 2 years ago)
- Last Synced: 2023-10-20T21:01:57.945Z (about 1 year ago)
- Topics: ros, softhand
- Language: Common Lisp
- Homepage:
- Size: 67.4 KB
- Stars: 5
- Watchers: 2
- Forks: 5
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# This project is merged to [jsk-ros-pkg/jsk_robot](https://github.com/jsk-ros-pkg/jsk_robot).
# softhand_ros
[](https://github.com/knorth55/softhand_ros/actions/workflows/main.yml)
[](https://github.com/knorth55/softhand_ros/actions/workflows/linter.yaml)
ROS package for SoftHand
## Note
This package depends on the branch below.
- [pazeshun/dynamixel_motor@gripper-v6-devel](https://github.com/pazeshun/dynamixel_motor/tree/gripper-v6-devel)
## Installation
### Workspace build
```bash
source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build
```
### Udev installation
```bash
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
```
## How to use
### Launch softhand
#### For softhand v1
```bash
source ~/softhand_ws/devel/setup.bash
# for left softhand v1
roslaunch softhand_ros softhand_left.launch
# for right softhand v1
roslaunch softhand_ros softhand_right.launch
```
#### For softhand v2
```bash
source ~/softhand_ws/devel/setup.bash
# for left softhand v2
roslaunch softhand_ros softhand_v2_left.launch
# for right softhand v2
roslaunch softhand_ros softhand_v2_right.launch
```
### Control softhand by euslisp
#### For softhand v1
```bash
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros/euslisp
roseus softhand-interface.l
# euslisp interactive mode
# (softhand-init)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)
```
#### For softhand v2
```bash
source ~/softhand_ws/devel/setup.bash
roscd softhand_ros/euslisp
roseus softhand-v2-interface.l
# euslisp interactive mode
# (softhand-v2-init)
# (send *ri* :close-thumb)
# (send *ri* :open-thumb)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)
```
## Softhand hardware installation
### Set baud rate
#### For softhand v1
```bash
# set baud rate from 57600 to 1000000
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 1 MOTOR_ID
```
#### For softhand v2
```bash
# set baud rate from 57600 to 57143
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 34 MOTOR_ID
```
### Set motor ID
```bash
rosrun dynamixel_driver change_id.py OLD_MOTOR_ID NEW_MOTOR_ID
```
#### Motor IDs of Softhand v1
- 1: Thumb
- 2: Index finger
- 3: Middle finger
#### Motor IDs of Softhand v2
- 1: Thumb rotate
- 2: Thumb
- 3: Index finger
- 4: Middle finger
### Disable overload error
#### For softhand v1
```python
import roslib
roslib.load_manifest('dynamixel_driver')
from dynamixel_driver import dynamixel_io
# for softhand v1
dxl_io = dynamixel_io.DynamixelIO("/dev/ttyUSB0", 1000000)
dxl_io.write(MOTOR_ID, 17, (4,))
dxl_io.write(MOTOR_ID, 18, (4,))
```
#### For softhand v2
```python
import roslib
roslib.load_manifest('dynamixel_driver')
from dynamixel_driver import dynamixel_io
# for softhand v2
dxl_io = dynamixel_io.DynamixelIO("/dev/ttyUSB0", 57600)
dxl_io.write(MOTOR_ID, 17, (4,))
dxl_io.write(MOTOR_ID, 18, (4,))
```
#### Change `product` to distinguish E151 board
We distinguish left and right hand with `product` field of FTDI chip on E151.
- Left softhand v1 E151's `product`: `LEFT-E151`
- Right softhand v1 E151's `product`: `RIGHT-E151`
- Left softhand v2 E151's `product`: `LEFT-V2-E151`
- Right softhand v2 E151's `product`: `RIGHT-V2-E151`
In order to change them, please follow [jsk_apc doc](https://jsk-apc.readthedocs.io/en/latest/jsk_arc2017_baxter/setup_gripper_v6.html#distinguish-left-dxhub-from-right-one).
If you don't have windows, you can do it with [richardeoin/ftx-prog](https://github.com/richardeoin/ftx-prog) as follows.
```bash
git clone https://github.com/richardeoin/ftx-prog.git
cd ftx-prog/
make
# for left softhand v1
sudo ./ftx-prog --product LEFT-E151
# for right softhand v1
sudo ./ftx-prog --product RIGHT-E151
# for left softhand v2
sudo ./ftx-prog --product LEFT-V2-E151
# for right softhand v2
sudo ./ftx-prog --product RIGHT-V2-E151
```