schunk_svh_driver - effort

asked 2015-04-28 10:21:59 -0600

Alba
20 ●9 ●13 ●15

Why when I call

rostopic echo /svh_controller/channel_feedback

I get:

name: ['Thumb_Flexion', 'Thumb_Opposition', 'Index_Finger_Distal', 'Index_Finger_Proximal', 'Middle_Finger_Distal', 'Middle_Finger_Proximal', 'Ring_Finger', 'Pinky', 'Finger_Spread']

position: [0.05220882358116796, 0.0899018990503464, 0.15354111584201746, 0.10189999742578948, 0.15404356030194322, 0.1026399974070955, 0.11117555604869267, 0.11235155605390901, 0.2843675514932329]

velocity: []

effort: []

and so I have value of current positions but I haven't value of velocity and effort? Then is the effort the contact force???

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answered 2015-04-28 10:55:10 -0600

inflo
406 ●24 ●26 ●31

only name and position is used:

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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How I can read the value of current or effort?

Alba ( 2015-04-28 10:58:35 -0600 )edit

with rosparam

inflo ( 2015-04-28 11:05:23 -0600 )edit

"effort" isn't in the list of setted parameters.

Alba ( 2015-04-28 11:48:24 -0600 )edit

The Rosparams with "currents" are the values you set for the current controller ( the low level driver of the hand). PLEASE be very carefull with these! Also they will at the moment only be read during startup of the node and are not changable at runtime.

heppner ( 2015-06-09 09:50:22 -0600 )edit

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answered 2015-06-09 09:48:26 -0600

heppner
55 ●2 ●4 ●5

Hey Alba,

it would be helpfull if you could open only one question regarding the same issue (efforts). Currently the ROS Node does not Provide the efforts or current values. You can use the driver API for that (refer to this answer. I might add this feature in the forseeable future.

As Info mentioned the joint state messages only use the name and the position values.

Best Regards Georg

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