QBSOFTHAND RESEARCH USER MANUAL —
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After launching the node, in order to test the qb SoftHand functioning, open a new terminal window and
paste the following lines:
rostopic pub -1 /qbhand1/control/qbhand1_synergy_trajectory_controller/command trajectory_msgs/JointTrajectory
"header:
seq
: 0
stamp:
secs: 0
nsecs: 0
frame_id:
''
joint_names: [
'qbhand1_synergy_joint'
]
points:
- positions: [1]
velocities: [0]
accelerations: [0]
effort: [0]
time_from_start: {secs: 1, nsecs: 0}"
Now the qb SoftHand should close. You can use the previous message structure to send control messages
to qb SoftHand. The following parameters are important to properly control the device:
positions - accepts values in range [0,1] - e.g. 0 open the qb Softhand, 1 close it, 0.5 half close, ...
time_from_start
- indicates the time for concludng the actions. It sets indirectly the velocity of the
qb SoftHand motion.
The other parameters can remain as they are.
The followings are particular control modes which are enabled with few parameters, but the concepts of
this paragraph hold for all of them.
1. GUI Control
This control mode is the one suggested to test that everything is working as expected. You are able to open
and close the
qb SoftHand
interactively, but nothing more than this.
NOTE:
Be aware that the
qb SoftHand
is desensorized and therefore it is not possible to know exactly
the position of each finger: the screen visualization is just the result of an estimation of the
closure value and may differ from the real configuration of your
qb SoftHand
(e.g. when
grasping an object).
NOTE:
In the previous example it is assumed that the qbSoftHand has ID set to
1
.
