sdh

This repo contains some ros packages for control of the SDH hand (ros noetic).

Installation

First clone this repo in your catkin workspace:

git clone git@github.com:jelledouwe/sdh.git

Then install the dependencies:

  rosdep update
  rosdep install --from-paths src --ignore-src -r -y

Then build/make the package:

  catkin_make

Finally, source you workspace.

Launch Real and Sim controllers

The schunk_bringup package can be used to bring up the real and simulated hand.

Run for the real hand:

  roslaunch schunk_bringup main.launch

And for the simulated hand:

  roslaunch schunk_bringup main.launch sim:=true

This will launch a gazebo simulation.

SDH interface

To ease controlling the hand, there is an SDH interface.

Interface Real Example

  import rospy
  import sdh_interface
  from sdh_interface import SDHInterface
  
  if __name__ == "__main__":
    rospy.init_node("example")
    
    sdhi = SDHInterface()
    rospy.sleep(10)
    sdhi.cmdOpen()
    rospy.sleep(10)
    sdhi.cmdGoToStartPos()

Interface Sim Example

  import rospy
  import sdh_interface
  from sdh_interface_sim import SDHInterfaceSim
  
  if __name__ == "__main__":
    rospy.init_node("example")
    
    sdhi = SDHInterfaceSim()
    rospy.sleep(10)
    sdhi.cmdOpen()
    rospy.sleep(10)
    sdhi.cmdGoToStartPos()

Credits

Files adapted from Fraunhofer Institute for Manufacturing Engineering and Automation (IPA). Also adapted files from @padmaja-kulkarni.