softhand_ros

ROS package for SoftHand

Installation

Workspace build

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
git clone https://github.com/knorth55/softhand_ros.git
wstool init
wstool merge softhand_ros/fc.rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build

Udev installation

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

source ~/softhand_ws/devel/setup.bash
roslaunch softhand_ros softhand.launch

Control softhand by euslisp

roscd softhand_ros/euslisp
roseus softhand-interface.l
# euslisp interactive mode
# (softhand-init)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)

Softhand hardware installation

Set baud rate

# set baud rate to 1000000
rosrun dynamixel_driver set_servo_config.py -b BAUD_RATE -r 1 MOTOR_ID 

Set motor ID

• 1: Thumb
• 2: Index finger
• 3: Middle finger

rosrun dynamixel_driver change_id.py OLD_MOTOR_ID NEW_MOTOR_ID

Disable overload error

import roslib
roslib.load_manifest('dynamixel_driver')
from dynamixel_driver import dynamixel_io

dxl_io = dynamixel_io.DynamixelIO("/dev/ttyUSB0", 1000000)
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 E151's product: LEFT-E151
• Right E151's product: RIGHT-E151

In order to change them, please follow jsk_apc doc.

If you don't have windows, you can do it with richardeoin/ftx-prog as follows.

git clone https://github.com/richardeoin/ftx-prog.git
cd ftx-prog/
make
# for left hand
sudo ./ftx-prog --product LEFT-E151
# for left hand
sudo ./ftx-prog --product RIGHT-E151