26
—
SOFTWARE
12
https://wiki.ros.org/combined_robot_hw
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.1.0
•
•
Device Setup
Connect a
qb SoftHand
to your system is basically a matter of plugging in a USB cable. Nonetheless,
read
carefully
the manual to understand all the requirements and advice about either single-device or
chained configurations.
6.2.2 Usage
As shown in the following picture there are two distinct configurations to control several
qb SoftHand
devices connected to the system:
The first (and recommended) groups all the Hardware Interfaces together (thanks to the
) and exploits them as a unique robot system. We have called it
"synchronous"
just to point out that every sequence of reads and writes is always done in the same predefined order.
The second mode threats every device as an independent Hardware Interface with its dedicated ROS
Node which executes the control loop independently w.r.t. the rest of the system, i.e.
"asynchronously"
.
Mixed configurations can be also achieved through a proper setup. In such a case we can think of
synchronous sub-systems which execute asynchronously w.r.t. each other.
NOTE:
Depending on your ROS installation, you may need some extra packages to properly compile
the code. Please, be sure that you have already installed at least
ros-<ros_distro>-ros-
controllers
,
ros-<ros_distro>-transmission-interface
,
ros-<ros_distro>-
joint-limits-interface
,
ros-<ros_distro>-combined-robot-hw
,
and
their
dependencies (
e.g. use
sudo apt install <ros-pkg>
).
NOTE:
In a single-device system the synchronous mode is a nonsense.
