sr_hand Documentation

sr_hand

This is a ROS interface to the Shadow Robot's robotic hand. It contains both an interface to the real hand (communicating via a CAN interface) and a simulated version of the hand. It also contains an interface to Shadow Robot's muscle arm.

• Homepage: http://wiki.ros.org/sr_hand

Introduction

This is a generic ROS interface used to access and experiment with Shadow Robot's hardware. It can be used either for accessing the real hardware or use a virtual hand to test your algorithm / utilities. It also contains an interface to Shadow Robot's muscle arm.

Code API

The classes directly interacting or simulating the Dextrous hand are the following:

• The generic parent class for the Dextrous Hands can be found at shadowhand::Shadowhand.
• The virtual Shadow Dextrous Hand can be found here shadowhand::VirtualShadowhand.
• To look at the real Dextrous Hand documentation refer to shadowhand::RealShadowhand.
• The virtual Shadow Arm can be found here: shadowhand::VirtualArm.

You can find the documentation regarding the different publishers and the subscriber here: shadowhand_publisher::ShadowhandPublisher, shadowhand_subscriber::ShadowhandSubscriber, shadowhand_diagnosticer::ShadowhandDiagnosticer .

The package also contains a python library to access the ROS interface through easy to use high level python commands. Please refer to shadowhand_ros.py. This library is used to develop the sr_control_gui interface.

Examples

There's a few examples in the examples directory in sr_hand. You can have a look at the example link_joints.cpp, or the same example written in python: link_joints.py.