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svh_grasp's Introduction

svh_grasp

Connecting Svh_hand with Ros and other sensors during grasp tasks.

Launch

Step 1: Start Schunk SVH Hand

source devel_isolated/setup.bash
roslaunch schunk_svh_driver svh_controller.launch
# debug launch
# roslaunch schunk_svh_driver svh_controller.launch standalone:=true
# roslaunch schunk_svh_driver svh_controller.launch standalone:=true simulation:=true gui:=true

Step2: Start FSR force sensor

roslaunch svh_grasp adc_receiver.launch

Step3: Start Leap Motion Control

roslaunch svh_grasp leap_interface.launch

Final Step: Recording

rosbag record -O xxx.bag adc0_chatter adc1_chatter svh_controller/channel_currents svh_controller/channel_feedback svh_controller/channel_targets

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