- needs to be included the updates done on kortex_ros/kortex_driver
- TODO the controller of the qbhand on rviz
- TODO gazebo simulator with kinova + qbhand
![kinova_qbhand] TODO - add image
- kinova_qbhand_description : a URDF for a Kinova gen3 robot with a qbhand attached and a rigid base.
- kinova_qbhand_moveit : a MoveIt! package to work with the robot description just defined.
- kinova_qbhand_bringup: a package to bringup LBR iiwa and qbhand.
- ros_kortex: ROS integration for the Kinova gen3 (6/7 dof).
- qbhand-ros: A package contains the ROS nodes aimed to visualize and control the qbrobotics® qbhand device. Also check softhand for information
- moveit - (moveit assistance was key to create the kinova_qbhand package)
ROS Melodic (Ubuntu 18.04) and Noetic (Ubuntu 20.04). Note that in Ubuntu 20.04 it is harder to install qbhand-ros.
run qbhand-ros launch file
roslaunch qb_hand_control control_qbhand.launch standalone:=true activate_on_initialization:=true device_id:=1
to close and open manually open new terminal
rostopic pub /qbhand1/control/qbhand1_synergy_trajectory_controller/command trajectory_msgs/JointTrajectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names:
- 'qbhand1_synergy_joint'
points:
- positions: [1]
velocities: [0]
accelerations: [0]
effort: [0]
time_from_start: {secs: 2, nsecs: 0}"
set position 1 to close completly and position 0 to open fully. Don't forget to add time in secs.
roslaunch qb_hand_description display_qbhand.launch
qbhand1_end_effector_link could be an interesting reference point to grasp objects
Inside kinova_qbhand_moveit the file sensor_3d.yaml has parameters on the point cloud data to set before any experiment:
- point_cloud_topic: change to the correct depth topic
- max_range: points further than this will not be used.
- padding_offset: points closer than this will not be used.
padding_offset is important to change to prevent moveit to detect the qbhand has an obstacle.
After installing all the dependencies, you can:
- Visualize in RVIZ:
roslaunch kinova_qbhand_moveit demo.launch
- Real robot control:
Working - needs documentation