jelledouwe / sdh

Some ros packages for control of the SDH hand.

sdh

This repo contains some ros packages for control of the SDH hand (ros noetic).

Installation

First clone this repo in your catkin workspace:

git clone [e-mail]:jelledouwe/sdh.git

Then install the dependencies:

  rosdep update
  rosdep install --from-paths src --ignore-src -r -y

Then build/make the package:

  catkin_make

Finally, source you workspace.

Launch Real and Sim controllers

The schunk_bringup package can be used to bring up the real and simulated hand.

Run for the real hand:

  roslaunch schunk_bringup main.launch

And for the simulated hand:

  roslaunch schunk_bringup main.launch sim:=true

This will launch a gazebo simulation.

SDH interface

To ease controlling the hand, there is an SDH interface.

Interface Real Example

  import rospy
  import sdh_interface
  from sdh_interface import SDHInterface
  
  if __name__ == "__main__":
    rospy.init_node("example")
    
    sdhi = SDHInterface()
    rospy.sleep(10)
    sdhi.cmdOpen()
    rospy.sleep(10)
    sdhi.cmdGoToStartPos()

Interface Sim Example

  import rospy
  import sdh_interface
  from sdh_interface_sim import SDHInterfaceSim
  
  if __name__ == "__main__":
    rospy.init_node("example")
    
    sdhi = SDHInterfaceSim()
    rospy.sleep(10)
    sdhi.cmdOpen()
    rospy.sleep(10)
    sdhi.cmdGoToStartPos()

Credits

Files adapted from Fraunhofer Institute for Manufacturing Engineering and Automation (IPA). Also adapted files from @padmaja-kulkarni.