schunk_svh_driver - effort

asked 2015-04-28 10:21:59 -0500

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???

edit retag flag offensive close merge delete

add a comment

1

answered 2015-04-28 10:55:10 -0500

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.

edit flag offensive delete link

Comments

How I can read the value of current or effort?

Alba ( 2015-04-28 10:58:35 -0500 )edit

with rosparam

inflo ( 2015-04-28 11:05:23 -0500 )edit

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

Alba ( 2015-04-28 11:48:24 -0500 )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 -0500 )edit

add a comment

0

answered 2015-06-09 09:48:26 -0500

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

edit flag offensive delete link

add a comment

schunk_svh_driver - effort

2 Answers

Comments

Question Tools

Stats

Related questions

schunk_svh_driver - effort edit

2 Answers

Comments

Question Tools

Stats

Related questions

schunk_svh_driver - effort