/dh_gripper_ros

ROS DH-Robotics meta-package

Primary LanguageC++

DH hand controller

Description

This is the control interface for the DH hand.

Software Architecture

The controller use ROS actionlib interface to control the displacement of joint associated hand.

Directory Structure

dh_hand_driver/
    ├── CMakeLists.txt
    ├── package.xml
    ├── README.md						# This file
    ├── action/
    │   └── ActuateHand.action			# To generate action header file
    ├── doc/
    │   └── <RegisterList>.xlsx			# List of Register 
    ├── include/
    │   └── dh_hand_driver/
    │       ├── definition.h			# All defintion of enum
    │       ├── DH_datastream.h			# Data Structure Class
    │       ├── hand_controller.h		# Main Controller Class
    │       └── hand_driver.h			# Process data Structure
    ├── launch/
    │   └── dh_hand_controller.launch	# Controller launch file
    ├── lib/
    │   └──libdh_hand_driver.so			# Dynamic Link Library
    ├── scripts/						# rule scripts
    │   ├── create_hand_rules.sh		
    │   ├── delete_hand_rules.sh
    │   └── DH_hand.rules
    ├── src/
    │   ├── node.cpp					# Controller Main Node
    │   ├── test_client.cpp				# Test hand example
    └── srv/  
		└── hand_state.srv           	# To genrate servise header file

Installation

  1. Make sure you have already installed and Configured Your ROS Environment

  2. Create and build a catkin workspace: (you can skip this step , if you have already created it)

    $ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

  3. Install Dependencies :

    $ sudo apt-get install ros-<distro>-serial

    Using the short name of your ROS distribution instead of <distro>

    If you installed ROS Kinetic, that would be:

    $ sudo apt-get install ros-kinetic-serial

    or you can visit Serial on Github to install the driver.

  4. Clone the whole directory( dh_hand_driver ) to your catkin's workspace src folder

  5. Compile the code

    $ cd ~/catkin_ws/
$ catkin_make

    Notice: If compile error : dh_hand_driver/hand_state.h: No such file or directory please compile it again

    Or try : catkin_make -j1

  6. Add the path including to the ROS_PACKAGE_PATH environment variable. Open ~/.bashrc file and add at the end the following line.

    source ~/catkin_ws/devel/setup.bash

  7. Remap Serial port

    $ cd ~/catkin_ws/src/dh_hand_driver/
$ ./scripts/create_udev_rules.sh

Instructions

  1. Connect all hardware and Turn on the power

    Then check the remap using following command : $ ls -l /dev | grep ttyACM

    You will see output such as the following

    lrwxrwxrwx  1 root root           7 9月   5 15:01 DH_hand -> ttyACM0
crwxrwxrwx  1 root dialout 166,   0 9月   5 15:01 ttyACM0

    After you have change the Serial port remap, you can change the launch file about the serial_port value:(this is default) <param name="serial_port" type="string" value="/dev/DH_hand"/>

    otherwise change the launch file (such as /dev/ttyACM0) : <param name="serial_port" type="string" value="/dev/ttyACM0 "/>

    ​ And add the authority of write :$ sudo chmod 666 /dev/ttyACM0

  2. Modify launch file and Running controller

    First , Modify the dh_hand_controller.launch file in according to the product model (AG-2E or AG-3E) <param name="Hand_Model" type="string" value="AG-2E"/> Now , you can running controller

    $ roslaunch dh_hand_driver dh_hand_controller.launch

    If If it runs successfully , you will see the initialization of the hand

  3. Run the client

    after you run the dh_hand_controller.launch , you can run the hand_controller_client to control it

    $ rosrun dh_hand_driver hand_controller_client [motorID][position][Force]

    motorID : AG-2E has one motor , this parameter just be 1; AG-3E has two motor , this parameter can be 1 or 2

    position : Range from 0 to 100

    Force : Range from 20 to 100

    such as :

    $ rosrun dh_hand_driver hand_controller_client 1 50 90
  4. Study how to use it

    you can read the test_client.cpp in /dh_hand_driver/src folder to study

    we use the actionlib to send Goal and get Feedback and Result:

    Goal : motorID , position and Force

    Feedback : Whether to reach the target Position

    Result : Whether successful execution

    And we use the service to get the hand state:

    get Force : = 0

    get Position 1 : = 1

    get Position 2 : = 2

  5. Enjoy it

  6. TODO:

    Add URDF support and simulation

    More control interfaces