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Package Summary

No API documentation

This is a generic ROS interface to the Cyberglove from Immersion. It reads data from the Cyberglove, calibrate them and streams them to two different /joint_states topic: calibrated and raw data.

sr_teleop: cyberglove | sr_remappers

Package Summary

Documented

This is a generic ROS interface to the Cyberglove from Immersion. It reads data from the Cyberglove, calibrate them and streams them to two different /joint_states topic: calibrated and raw data.

  • Author: Ugo Cupcic
  • License: GPL
  • Source: bzr lp:sr-teleop (branch: release)
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ROS API

Published Topics

This node publishes sensor_msgs/jointState messages on two topics for the raw and calibrated values. The two topics are /cyberglove/raw/joint_states and /cyberglove/calibrated/joint_states

Services

You have access to 2 different services to control the glove node.

  • /cyberglove/start: With the start / stop service you can start or stop publishing the glove data. Please note that it's a lot more convenient for you to simply push on the glove wrist button: if the light is on the data will be published, if it's off, the data won't be published.

The Cyberglove, with the wrist button highlighted

  • /cyberglove/calibration: A calibration service is also available if you want to load a different calibration file for the glove.

Parameters

  • publish_frequency: The frequency at which the data are polled from the Cyberglove.

  • path_to_glove: In the cyberglove.launch file, you can also edit on which port you want to listen to, by modifying the path_to_glove parameter. By default it's set to be dev/ttyS0, but this can vary depending on your configuration.

  • path_to_calibration: You can modify here the default path to the calibration file used for the glove.

Calibration

The calibration file is loaded from the sr_control_gui/param/cyberglove.cal file. To change which file you want to use, you can simply edit the parameter path_to_calibration of the cyberglove.launch file.

<node pkg="cyberglove" name="cyberglove" type="cyberglove">
    <param name="cyberglove_prefix" type="string" value="/cyberglove" />
    <param name="publish_frequency" type="double" value="20.0" />
    <param name="path_to_glove" type="string" value="/dev/ttyS0" />
    <param name="path_to_calibration" type="string" value="$(find
    sr_control_gui)/param/cyberglove.cal" />
</node>

A calibration process is available in the cyberglove calibrator plugin of the sr_control_gui.

Which Versions of the Cyberglove have been tested

The standard Cyberglove connected to the serial port has been tested, as well as the bluetooth version of the cyberglove. To use the bluetooth version, you need to pair it with your computer. A good howto is available on the Gentoo wiki.

Wiki: cyberglove (last edited 2011-03-30 13:26:05 by UgoCupcic)