iit changes

To run you must: open a terminal (Ctrl+Alt+T) and write:

roscore

open another terminal:

roscd qb_interface/conf/
rosparam load config.yaml
rosrun qb_interface qb_force_control
rostopic pub /qb_class/hand_ref qb_interface/handRef "closure: [9000]"

where the grasp closure is within [0-19000] Change stiffness with rosparam set /stiffness 0.1 where stiffness is from [0-1.0]

qb_interface_node

ROS node for communicate with sequence and multi-sequence of qbDevice

Install

1. Create a new folder in your catkin workspace call "qb_interface"
2. Load all file in it, no other files are request

Otherwise:

• .deb [indigo, jade] if you request it on our website

Note: This code has been developed for ROS Indigo on ubuntu 14.04. No warranty for other distributions.

Configure

Main parameters can be configurable by a YAML file, which is request during the call to qb_interface_node with "roslaunch" method. If you do not specify your yaml own custom file, by variable yamlFile:="PathToYourConfFile", a default yaml fill will be set.

example

communication port

port: '/dev/ttyUSB0'

[Equilibrium/Preset] -> True , [P1/P2/PL] -> False

eq_preset: true

[Hand command in percentual] -> True , [Hand command in TICK] -> False

hand_perc: true

[Current Reader Enable] -> True , [Current Reader Disable] -> False

current: true

Unit of measurement, ['DEG', 'RAD', 'TICK']

unit: 'DEG'

Step time

step_time: 0.002

ID cubes in chain

IDcubes: [1, 2]

ID hands in chain

IDhands: [3]

Communication

Depends on your configurations several topics will be open. When IDcubes is set:

• /qb_class/cube_ref
• /qb_class/cube_measurement

If "current" is true

• /qb_class/cube_current

When IDhands is set:

• /qb_class/hand_ref
• /qb_class/hand_measurement

If "current" is true

• /qb_class/hand_current

Message Type

[/qb_class/cube_ref]

cubeRef.msg

[/qb_class/cube_measurement]

When "eq_preset" is set the message type is cubeEq_preset.msg otherwise cubePos.msg

[/qb_class/cube_current]

cubeCurrent.msg

[/qb_class/hand_ref]

handRef.msg

[/qb_class/hand_measurement]

handPos.msg

[/qb_class/hand_current]

handCurrent.msg