QBSOFTHAND RESEARCH USER MANUAL —
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Figure 9. —
qb SoftHand ROS control mode schemes
In both cases there is always one central Node which manages the shared resources for the serial
communication (e.g. one or many USB ports) and which provides several ROS services to whom wants to
interact with the connected devices. This Node is called
Communication Handler
and it is usually started
in a separate terminal.
Details
To understand what is hiding under the hood, have a look at the C++ classes overview which sums up all
the main concepts of our ROS packages:
CRITICAL:
Please remember that in a multi-device configuration, each
qbrobotics
device connected to
. In order to properly set it, you have to use our
