sr_remappers Documentation

sr_remappers: Remaps data from and to the Shadow Robot hardware

Contains different remappers to remap data coming from an actuator such as the cyberglove (Immersion) to Shadow Robot's hand. It also contains remapper to remap data coming from the Shadow hand to an other mechanism such as the cybergrasp (Immersion).

Homepage: http://ros.org/wiki/sr_remappers

sr_remappers is used to remap data coming from different hardware to the Shadow Hardware. It also provides apps to remap data coming from the Shadow Hardware to different hardware.

Generic principle for the Remapper

The generic principle for those remappers is as follow:

• subscribe to a given topic, get the vectors of incoming data.
• multiply these vectors as they come by a mapping matrix => remap one (or more) input data to one (or more) output data.
• publish the generated vector to a new topic.

Cyberglove Remapper

This is a remapper used to remap coming from a cyberglove node to a shadowhand node. It allows the user to control the Shadow Robot Dextrous Hand with a Cyberglove from Immersion. The cyberglove node can be found in the shadow_robot stack as well. There's a tool in sr_control_gui to generate an optimal mapping matrix for a given user in a few steps.

You can specify different parameters in the launch file remapper_glove.launch:

• cyberglove_prefix: set the prefix from which the data are coming.
• sendupdate_prefix: set the prefix to which the remapped data will be published.
• cyberglove_mapping_path: the path to the mapping matrix.

Cybergrasp Remapper

This is used to remap sensor data coming from a shadowhand node to a cybergrasp node. It allows the user to have force feedback provided by the Cybergrasp from Immersion. The input data is a vector of tactile sensors coming from the shadowhand.

Please note that this remapper is not really operational yet. The mapping used should be more complex than what is done for the time being to get a realistic feedback.

Code API

• The CalibrationParser class is taking care of parsing the calibration matrices and multiplying the input vector to compute the remapped vectors.
• shadowhand_to_cyberglove_remapper::ShadowhandToCybergloveRemapper is where the subscribe / publish are done for the Cyberglove.
• shadowhand_to_cybergrasp_remapper::ShadowhandToCybergraspRemapper is where the subscribe / publish are done for the Cybergrasp.