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schunk_svh_driver : grasps

asked 2015-04-28 09:21:13 -0600

Alba gravatar image

Hi, can I read the values of the current or of contact force and decide to stop the hand if it touches an object?

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answered 2015-04-28 10:51:30 -0600

inflo gravatar image

~CHANNEL_NAME/current_controller (vector of floats, default: see yaml files)

Parameters used for the hardware current controller. See additional documentation in YAML files and below. If no values are provides the current will use safe internal defaults.
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I used the values in Yaml file but they are the parameters used to control. I want to read the current value of current/force. Is it possible?

Alba gravatar imageAlba ( 2015-04-28 11:16:29 -0600 )edit

seemed that reading the actual current value is not possible, best would be a topic, but there is none

inflo gravatar imageinflo ( 2015-04-28 11:39:20 -0600 )edit

perhaps you can get the svh firmware and add a topic publisher which publishes these values

inflo gravatar imageinflo ( 2015-04-28 11:43:14 -0600 )edit

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Asked: 2015-04-28 09:21:13 -0600

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Last updated: Apr 28 '15