This project is merged to jsk-ros-pkg/jsk_robot.

softhand_ros

ROS package for SoftHand

Note

This package depends on the branch below.

• pazeshun/dynamixel_motor@gripper-v6-devel

Installation

Workspace build

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

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

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

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

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

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

# set baud rate from 57600 to 1000000
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 1 MOTOR_ID

For softhand v2

# set baud rate from 57600 to 57143
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 34 MOTOR_ID

Set motor ID

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

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

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.

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 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