bsygo / tams_motorhand

support for TAMS's Shadow Dexterous Hands with electric motors

tams_motorhand

This package provides different launch files as well es the robot description to bring up our Shadow motor hand.

Installation

To use these launch files you will need the correct version of the shadow repositories, you will find a rosinstall file in the rosinstalls package for indigo.

Usage

The Shadow hand can be used in different setups, on the one side directly connected to the base station and on the other side together with the PR2.

ATTENTION

• To start the hand connected to the base station

  • mannaully set ROS_MASTER_URI to localhost or run local_ros.
  • need to bring up the second ethercat port manually. In /etc/netplan/02-tams-interfaces.yaml, enable "enp5s2" networt port then run sudo ip link set dev enp5s2 up.
  • use the right_biotac_hand.launch file. The hand will be started in trajectory control mode. With the right_biotac_hand_no_controllers.launch the hand is started without controllers.

• To use the hand with the PR2 start right_biotac_hand_in_ns.launch on c2, this assumes tams_pr2_bringup's trixi.launch is already running.

• With right_biotac_hand_gazebo.launch the simulation of the hand can be started as well as the moveit demo mode with right_biotac_hand_moveit_demo.launch

• To limit the hand maximum force, copy this file:

  • left hand:

  cp tams_motor_hand/config/lh_motor_board_effort_controllers.yaml PATH_TO_sr_config/sr_ethercat_hand_config/controls/motors/lh/motor_board_effort_controllers.yaml
  

Left motor hand motor layout