actions: [] api_documentation: http://docs.ros.org/en/noetic/api/schunk_simulated_tactile_sensors/html authors: Sven Schneider brief: '' bugtracker: '' depends: - catkin - gazebo_msgs - rospy - schunk_sdh depends_on: - schunk_modular_robotics 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: - https://build.ros.org/view/Ndev_db/job/Ndev_db__schunk_modular_robotics__debian_buster_amd64 - https://build.ros.org/view/Ndev/job/Ndev__schunk_modular_robotics__ubuntu_focal_amd64 doc_job: https://build.ros.org/view/Ndoc/job/Ndoc__schunk_modular_robotics__ubuntu_focal_amd64 has_changelog_rst: true license: Apache 2.0 maintainer_status: maintained maintainers: Bruno Brito metapackages: - schunk_modular_robotics msgs: [] package_type: package release_jobs: - https://build.ros.org/view/Nsrc_dB/job/Nsrc_dB__schunk_simulated_tactile_sensors__debian_buster__source - https://build.ros.org/view/Nsrc_uF/job/Nsrc_uF__schunk_simulated_tactile_sensors__ubuntu_focal__source - https://build.ros.org/view/Nbin_db_dB64/job/Nbin_db_dB64__schunk_simulated_tactile_sensors__debian_buster_amd64__binary - https://build.ros.org/view/Nbin_dbv8_dBv8/job/Nbin_dbv8_dBv8__schunk_simulated_tactile_sensors__debian_buster_arm64__binary - https://build.ros.org/view/Nbin_uF64/job/Nbin_uF64__schunk_simulated_tactile_sensors__ubuntu_focal_amd64__binary - https://build.ros.org/view/Nbin_ufhf_uFhf/job/Nbin_ufhf_uFhf__schunk_simulated_tactile_sensors__ubuntu_focal_armhf__binary - https://build.ros.org/view/Nbin_ufv8_uFv8/job/Nbin_ufv8_uFv8__schunk_simulated_tactile_sensors__ubuntu_focal_arm64__binary repo_name: schunk_modular_robotics repo_url: '' srvs: [] timestamp: 1651918479.212931 url: http://ros.org/wiki/schunk_simulated_tactile_sensors vcs: git vcs_uri: https://github.com/ipa320/schunk_modular_robotics.git vcs_version: kinetic_dev