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NOTE
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NOTE
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//install rosserial arduino
sudo apt-get install ros-indigo-rosserial-arduino
sudo apt-get install ros-indigo-rosserial
// include custom msg into arduino code
// ~/Arduino is arduino sketchbook folder
cd Arduino/libraries
//include all the packages of ros into the available list of arduino
rosrun rosserial_arduino make_libraries.py .
//RUN Handshake program
//plug in softhand check with 'lsusb | grep Future'
//plug in arduino check with 'lsusb | grep Arduino'
Terminal-1
roscore
Terminal-2
//start arduino node. is sending a vector of 6 floats to a topic named 'sensors_FSR'
rosrun rosserial_python serial_node.py /dev/ttyACM0
Terminal-3
//start 'bridge' node. is taking as inputs
//the 6-floats vector from arduino and publishing 'closure' in the topic '/qb_class/hand_ref'
//FSRtoClosure is an executable of the package qb_interface
rosrun qb_interface FSRtoClosure
Terminal-4
//load configuration parameters for qb interface
rosparam load $(rospack find qb_interfac/conf/config.yaml
//run qb_force_control in order to send closure position
rosrun qb_interface qb_force_control
Plots
Terminal-5
rqt_plot
//click plot-options icon up-right
//select MatPlot
//edit curve lines for a better display x axis difference to 50
closure --> /qb_class/hand_ref/closure[0]
sensors --> /sensors_FSR/data[0]
/sensors_FSR/data[1]
/sensors_FSR/data[2]
/sensors_FSR/data[3]
/sensors_FSR/data[4]
/sensors_FSR/data[5]
current --> /qb_class/hand_measurement/closure[2]
https://drive.google.com/open?id=10V3ecnxkQE-xdG1s76Shyd00RGWXtTCp