Alba's profile - activity

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???

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

Hi, I install package schunk_svh_driver calling:

sudo apt-get install ros-indigo-schunk-svh-driver

but the THUMB's schunk 5 finger hand that I'm using has a hardware failure and so I want disable_flags (1 and 2) calling:

roslaunch schunk_svh_driver svh_controller.launch disable_flags:=[true true false false false false false false false]

but I get the error:

roslaunch: error: The following input files do not exist: false].

How I can disable the thumb?

Hi, I download the packages schunk_svh_driver( Source: git https://github.com/fzi-forschungszent... ) in /opt/ros/indigo/share and so, I Install the package by calling: apt-get install ros-indigo-schunk-svh-driver, but if I launch the controller node by calling : roslaunch schunk_svh_driver svh_controller.launch standalone:=true I get an error:

ERROR: cannot launch node of type [schunk_svh_driver/svh_controller]: can't locate node [svh_controller] in package [schunk_svh_driver].

Can you help me please?

The file quick_commands shows how to set channel_targets:

rostopic pub /svh_controller/channel_targets sensor_msgs/JointState "header:
  seq: 0


stamp: {secs: 0, nsecs: 0}
  frame_id: ''
name: ['Index_Finger_Proximal','Index_Finger_Distal','Middle_Finger_Proximal','Middle_Finger_Distal','Ring_Finger','Pinky','Finger_Spread','Thumb_Flexion']
position: [0.8,1.3,0.8,1.3,0.9,0.9,0.5,0.3]
velocity: [0,0,0,0,0,0,0,0]
effort: [0,0,0,0,0,0,0,0]"

what does it mean with "velocity"? what is "effort"?

Hi, I can, with Schunk Hand call:

rostopic pub /svh_controller/channel_targets sensor_msgs/JointState "header:
    seq: 0
      stamp: {secs: 0, nsecs: 0}
      frame_id: ''
    name: 
['Index_Finger_Proximal','Index_Finger_Distal','Middle_Finger_Proximal','Middle_Finger_Distal','Ring_Finger','Pinky','Finger_Spread','Thumb_Flexion']
    position: [0.8,1.3,0.8,1.3,0.9,0.9,0.5,0.3]
    velocity: [0,0,0,0,0,0,0,0]
    effort: [0,0,0,0,0,0,0,0]"

can I correct desired position for better grip during the grasp?

I want that the motor stops if it touches an object, during the contact the motor reach a current limit (isn't it?) but the motors don't stop. Why? And is it possible to know values of actual current?

Sorry! I have a Schunk hand and I mena that the motor don't stop!

I want that the motor stops if it touches an object, during the contact the motor reach a current limit (isn't it?) but the motors don't seem to stop. Why?

During the homing (or reset) if one of the motors touches an obstacle it stops. I wish also during the phase of achievement target position in case of contact with any object the motor concerned to stop. How can I do? Can I modify the topics?

Hi, can you help me to use the topic channel_feedback() in rqt-rviz? Can I use this topic to read values of current/effort and so adjourn position in the topic channel_target? Thank you.

Hi, can you suggest me how to use the topic channel_feedback to control the grasps of objects online? Thank you.

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

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?