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SOFTWARE
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
<robot_package>_control/config/<robot_name>_waypoints.yaml
where
robot_name
and
robot_package
are two additional launch file arguments.
Customization
You can modify the waypoint trajectory to replicate the behavior you want: either change the
<robot_package>_control/config/<robot_name>_waypoints.yaml
or add another custom
application-specific file in the
config
directory. In the second case you need to set the argument
robot_name
properly when launching the command from the terminal.
The waypoint configuration is as follows:
waypoints:
-
time: [
2.0
]
joint_positions:
qbhand2m1: [
0.0
,
0.0
]
-
time: [
4.0
]
joint_positions:
qbhand2m1: [
0.48
,
1.0
]
-
time: [
8.0
]
joint_positions:
qbhand2m1: [
0.48
,
1.0
]
-
time: [
9.0
]
joint_positions:
qbhand2m1: [
0.48
,
0
]
-
time: [
10.0
]
joint_positions:
qbhand2m1: [
0.0
,
0
]
3. API Control
If you need a complex (i.e. real) control application, e.g. the
qb SoftHand2 Research
is mounted on a robot
which uses computer vision aid to grasp objects, the previous two control modes don't really help much.
What we provide for real applications is the full ROS libraries to manage and control the
qb SoftHand2
Research
.
The previous configuration works with a device with
ID 1
. If a device with different id is used
you have to change the device name (i.e.
qbhand2m1
in the previous file).
Содержание SoftHand2 Research
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