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schunk_svh_driver : How I can read current position?

asked 2015-04-27 08:04:15 -0600

Alba gravatar image

Hi, I want to read current position and the value of current at every instant to control the grasps online. Can you help me? Thank you!

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channel_feedback (sensor_msgs/JointState)

Current position of the channels (fingers).
inflo gravatar imageinflo ( 2015-04-27 10:05:08 -0600 )edit

Yes, I know that I can use channel_feedback, but I don't know how I can use it, because I try calling: rostopic echo svh_controller/channel_feedback and it prints messages to screen, but how I can use the current data to update the channel_targets?

Alba gravatar imageAlba ( 2015-04-27 10:47:28 -0600 )edit

you could send it with "rostopic pub ..." or write a node which publishes to channel_targets

inflo gravatar imageinflo ( 2015-04-27 11:19:39 -0600 )edit

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answered 2015-04-28 09:10:29 -0600

Alba gravatar image

Ok. I solved my problem, I can read the current position calling:

rostopic echo svh_controller/channel_feedback
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answered 2015-04-27 11:13:20 -0600

inflo gravatar image

channel_targets (sensor_msgs/JointState)

Target position the channels (fingers) shall move to. Note that it is less performant to give targets for individual channels or a subset of the available DoF than providing it for all at once. If 8 channels are given instead of 9 the driver will send 8 packets instead of 1 which might influence serial device performance. Only the names and positions will be evaluated from the JointState message.
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Asked: 2015-04-27 08:04:15 -0600

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Last updated: Apr 28 '15