actions: [] api_documentation: http://docs.ros.org/hydro/api/schunk_simulated_tactile_sensors/html authors: Sven Schneider brief: '' bugtracker: '' depends: - geometry_msgs - catkin - rostest - rospy - schunk_sdh depends_on: - schunk_modular_robotics - cob_controller_configuration_gazebo description: "This package provides simulated tactile sensors for the Schunk Dextrous\n\ \ Hand (SDH) which is mounted on the Care-O-bot arm. The node subscribes to\n\ \ the Gazebo bumper topics of the SDH. It transforms the Gazebo feedback to\n\ \ the "tactile_data" topic to provide the same tactile sensor interface\ \ as\n the schunk_sdh package.\n \n The following parameters can be\ \ set:\n * cells_x: The number of patches on the tactile sensor in the direction\n\ \ perpendicular to the finger. Defaults to 6.\n * cells_y: The\ \ number of patches on the tactile sensor along the direction\n of\ \ the finger. Defaults to 14.\n * output_range: The maximum output value of\ \ one patch. Defaults to 3500.\n * sensitivity: The change of output in one\ \ patch per Newton. Defaults to\n 350. The sensitivity can be\ \ approximated by the following\n formula: S = output_range /\ \ (measurement_range * cell_area)\n - The measurement range of\ \ the tactile pads is 250 kPa (from\n the data sheet).\n \ \ - The output range can be determined by experiment from the\n\ \ real SDH. It is about 3500.\n - The cell\ \ area is the size of one patch. Length and width\n of the\ \ area are determined by dividing the length/width\n of the\ \ collision surface by the number of cells in the\n respective\ \ direction.\n Important: In most cases this is NOT the cell\ \ area that is\n given in the data sheet!\n \ \ * filter_length: The length of the moving average filter which smoothes\n \ \ the values from simulation. Defaults to 10.\n \n The\ \ node subscribes to the following topics to receive data from the\n simulation:\n\ \ * thumb_2/state\n * thumb_3/state\n * finger_12/state\n * finger_13/state\n\ \ * finger_22/state\n * finger_23/state\n \n The node publishes\ \ the processed data on the following topic:\n * tactile_data\n \n The\ \ simulated bumper must obtain the collision data in the link that the\n sensor\ \ is attached to. This is achieved by setting the "frameName" property\n\ \ in the gazebo_ros_bumper controller." devel_jobs: - devel-hydro-schunk_modular_robotics doc_job: doc-hydro-schunk_modular_robotics has_changelog_rst: true license: LGPL maintainer_status: developed maintainers: Florian Weisshardt metapackages: - schunk_modular_robotics msgs: [] package_type: package release_jobs: - ros-hydro-schunk-simulated-tactile-sensors_sourcedeb - ros-hydro-schunk-simulated-tactile-sensors_binarydeb_precise_amd64 - ros-hydro-schunk-simulated-tactile-sensors_binarydeb_precise_i386 - ros-hydro-schunk-simulated-tactile-sensors_binarydeb_quantal_amd64 - ros-hydro-schunk-simulated-tactile-sensors_binarydeb_quantal_i386 - ros-hydro-schunk-simulated-tactile-sensors_binarydeb_raring_amd64 - ros-hydro-schunk-simulated-tactile-sensors_binarydeb_raring_i386 repo_name: schunk_modular_robotics repo_url: '' srvs: [] timestamp: 1440688031.968195 url: http://ros.org/wiki/schunk_simulated_tactile_sensors vcs: git vcs_uri: https://github.com/ipa320/schunk_modular_robotics.git vcs_version: hydro_release_candidate