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‎README.md

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‎qb_hand/CHANGELOG.rst

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Changelog for package qb_hand
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.0.0 (2018-05-30)
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------------------
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1.0.6 (2017-11-24)
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------------------
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* Update README and tutorials

‎qb_hand/package.xml

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<package format="2">
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<name>qb_hand</name>
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<version>1.0.6</version>
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<version>2.0.0</version>
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<description>
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This package contains the ROS interface for qbrobotics® qbhand device.
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</description>

‎qb_hand_control/CHANGELOG.rst

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Changelog for package qb_hand_control
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.0.0 (2018-05-30)
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------------------
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* Update README
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* Refactor launch files
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* Remove control node
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* Add blocking setCommands method support
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* Refactor launch files
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* Fix destructor calls on ROS shutdown
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1.0.6 (2017-11-24)
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------------------
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‎qb_hand_control/CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2 FATAL_ERROR)
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project(qb_hand_control VERSION 1.0.6 LANGUAGES CXX)
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project(qb_hand_control VERSION 2.0.0 LANGUAGES CXX)
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# Dependency Settings
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find_package(catkin REQUIRED
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COMPONENTS
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roscpp
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qb_device_control
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qb_hand_hardware_interface
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)
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find_package(catkin REQUIRED)
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include_directories(include
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${catkin_INCLUDE_DIRS}
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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${PROJECT_NAME}
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CATKIN_DEPENDS
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roscpp
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qb_device_control
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qb_hand_hardware_interface
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)
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# Build Settings
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add_executable(qb_hand_default
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src/main.cpp
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src/qb_hand_control.cpp
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)
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target_link_libraries(qb_hand_default
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PUBLIC
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${catkin_LIBRARIES}
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)
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add_dependencies(qb_hand_default
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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# Exported libraries
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add_library(${PROJECT_NAME}
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src/qb_hand_control.cpp
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)
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add_dependencies(${PROJECT_NAME}
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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# C++ Settings
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if (CMAKE_VERSION VERSION_LESS "3.1")
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target_compile_options(qb_hand_default
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PUBLIC
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"-std=c++14"
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)
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target_compile_options(${PROJECT_NAME}
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PUBLIC
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"-std=c++14"
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)
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else ()
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set_property(
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TARGET
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qb_hand_default
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${PROJECT_NAME}
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PROPERTY CXX_STANDARD 14
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)
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set_property(
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TARGET
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qb_hand_default
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${PROJECT_NAME}
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PROPERTY CXX_STANDARD_REQUIRED ON
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)
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endif ()
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catkin_package()
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# Installation
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install(
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TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(
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DIRECTORY
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include/${PROJECT_NAME}/
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DESTINATION
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${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(
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DIRECTORY
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launch/

‎qb_hand_control/config/qbhand_controllers.yaml

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qbhand_joint_state_controller:
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$(arg device_name)_joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 100
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# control the qbhand motor and its relative synergy
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qbhand_synergy_trajectory_controller:
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$(arg device_name)_synergy_trajectory_controller:
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type: position_controllers/JointTrajectoryController
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joints:
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- qbhand_synergy_joint
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constraints:
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goal_time: 0.1
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stopped_velocity_tolerance: 0.05
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qbhand_synergy_joint:
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trajectory: 0.05
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goal: 0.01
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- $(arg device_name)_synergy_joint
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constraints: # fake values due to the adaptability
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goal_time: 10.0
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stopped_velocity_tolerance: 10.0
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$(arg device_name)_synergy_joint:
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trajectory: 10.0
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goal: 10.0
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state_publish_rate: 100
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action_monitor_rate: 120
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stop_trajectory_duration: 0

‎qb_hand_control/config/qbhand_waypoints.yaml

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# Waypoints describe the desired motion trajectory:
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# - time [s]: can be either a single value or an interval for which joint_positions hold
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# - joint_positions:
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# - hand closure [0,1].
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# - hand closure [0,1];
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# - joint_velocities: optional, use it only if you want a nonzero value
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# - hand closure [0,1]/s;
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# - joint_accelerations: optional, use it only if you want a nonzero value
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# - hand closure [0,1]/s^2;
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#
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# It is worth noting that, if specified, joint_positions, joint_velocities and joint_accelerations must be of size one.
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waypoints:
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time: [1.0]
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time: [2.0]
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joint_positions:
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qbhand: [0.0]
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time: [2.25, 2.75]
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time: [4.0, 4.2]
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joint_positions:
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qbhand: [0.7]
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-
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time: [4.0, 5.0]
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joint_positions:
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qbhand: [0.0]
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-
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time: [10.75, 11.25]
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joint_positions:
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qbhand: [0.7]
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-
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time: [17.0, 18.0]
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joint_positions:
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qbhand: [0.0]
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qbhand: [0.8]

‎qb_hand_control/include/qb_hand_control/qb_hand_control.h

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‎qb_hand_control/launch/control.launch

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<launch>
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<!-- device info -->
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<arg name="device_id" default="1" doc="The ID of the device [1, 128]."/>
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<arg name="device_type" value="qbhand" doc="The type of the device [qbhand, qbmove, ...]."/>
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<arg name="device_name" default="$(arg device_type)$(arg device_id)" doc="The unique device name used in the yaml controller configurations (also in the urdf if not already specified there)."/>
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<!-- robot settings -->
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<arg name="control_duration" default="0.01" doc="The duration of the control loop [s]."/>
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<arg name="robot_hardware" default="[$(arg device_name)]" doc="The robot hardware interface names, e.g. [device1, device2, ...]."/>
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<arg name="robot_name" default="$(arg device_type)" doc="The unique robot name."/>
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<arg name="robot_namespace" default="$(arg device_name)" doc="The unique robot namespace."/>
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<arg name="robot_package" default="qb_hand" doc="The base package name prefix for the robot configurations [urdf, rviz, ...]."/>
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<arg name="source_list" default="[control/joint_states]" doc="The joint_states source list for the joint_state_publisher."/>
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<!-- read/write settings -->
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<arg name="get_currents" default="true" doc="Choose whether or not to retrieve current measurements from the device."/>
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<arg name="get_positions" default="true" doc="Choose whether or not to retrieve position measurements from the device."/>
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<arg name="get_distinct_packages" default="false" doc="Choose whether or not to retrieve current and position measurements from the device in two distinct packages."/>
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<arg name="max_repeats" default="3" doc="The maximum number of consecutive repetitions to mark retrieved data as corrupted."/>
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<arg name="set_commands" default="true" doc="Choose whether or not to send command positions to the device."/>
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<arg name="set_commands_async" default="false" doc="Choose whether or not to send commands without waiting for ack."/>
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<!-- initialization settings -->
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<arg name="activate_on_initialization" default="false" doc="Choose whether or not to activate the motors on node startup."/>
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<arg name="rescan_on_initialization" default="false" doc="Choose whether or not to rescan the serial ports on node startup."/>
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<!-- launch settings -->
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<arg name="standalone" default="false" doc="Choose whether or not to start the Communication Handler."/>
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<arg name="use_controller_gui" default="false" doc="Choose whether or not to use the controller GUI."/>
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<arg name="use_rviz" default="true" doc="Choose whether or not to use rviz."/>
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<arg name="use_waypoints" default="false" doc="Choose whether or not to use the waypoint references."/>
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<include file="$(find qb_device_driver)/launch/communication_handler.launch" if="$(arg standalone)"/>
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<include file="$(find qb_device_bringup)/launch/device_bringup.launch" pass_all_args="true"/>
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<include file="$(find qb_device_bringup)/launch/robot_bringup.launch" pass_all_args="true"/>
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</launch>

‎qb_hand_control/launch/gui_control.launch

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‎qb_hand_control/launch/waypoint_control.launch

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‎qb_hand_control/package.xml

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<package format="2">
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<name>qb_hand_control</name>
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<version>1.0.6</version>
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<version>2.0.0</version>
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<description>
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This package contains the ROS control node for qbrobotics® qbhand device.
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</description>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roscpp</depend>
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<depend>qb_device_control</depend>
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<depend>qb_hand_hardware_interface</depend>
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<!--TODO: <test_depend>gtest</test_depend>-->
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<doc_depend>doxygen</doc_depend>
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<export>
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<architecture_independent/>
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</export>
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</package>

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