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26 — SOFTWARE
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https://wiki.ros.org/qb_device_driver
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
Figure 8. — qb SoftHand ROS packages and classes overview
Communication Handler
The Communication Handler Node has no parameters to be set, therefore it is always launched like this:
roslaunch qb_device_driver communication_handler.launch
On start, it scans the serial communication resources connected to your system and shows a list of the
devices it has found. By default, it never scans again for new devices, apart from asking it explicitly
during the initialization of a control Node.
This is a simple example when starting the Communication Handler with two
qbrobotics devices
connected on two distinct USB ports:
[ INFO] [1657115843.575789176]: [CommunicationHandler] Found 1 qbrobotics devices on [/dev/ttyUSB0]
[ INFO] [1657115843.776596083]: [CommunicationHandler] The device with id 1 is connected.
[ INFO] [1657115844.108091910]: [CommunicationHandler] Found 1 qbrobotics devices on [/dev/ttyUSB1]
[ INFO] [1657115844.308228280]: [CommunicationHandler] The device with id 2 is connected.
When the Communication Handler is on, it provides all the Services required to interact with the
connected devices: e.g. get info or measurements, activate or deactivate motors, set commands , and even
more... A detailed description of the services can be found in the qb_device_driver
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package wiki.