QB Robotics SoftHand2 Research, Общее руководство

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24 — SOFTWARE
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https://bitbucket.org/qbrobotics/qbhand-ros/issues?status=new&status=open
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https://wiki.ros.org/combined_robot_hw
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
2.
•
•
cd ~/catkin_ws/src
git clone --recurse-submodules https://bitbucket.org/qbrobotics/qbdevice-ros.git
git clone https://bitbucket.org/qbrobotics/qbhand-ros.git
Compile the packages using
catkin
:
cd ~/catkin_ws
catkin_make
If you were not familiar with ROS you should be happy now: everything is done! Nonetheless, if you
encounter some troubles during the compilation, feel free to ask for support on our Bitbucket
13
.
Device Setup
Connect a qb SoftHand2 Research 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 SoftHand2
Research devices connected to the system:
The first (and recommended) groups all the Hardware Interfaces together (thanks to the
combined_robot_hw
14
) 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
,
ros-
<ros_distro>-rqt-joint-trajectory-controller
and their dependencies ( e.g. use
sudo apt install <ros-pkg>
).
