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pr2_ethercat_drivers: eml | ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • visualization of the pressure map in Rviz or in a standalone panel.
  • calibration-related data such as scaling factors, zero points and reference frames.

pr2_ethercat_drivers: eml | ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • visualization of the pressure map in Rviz or in a standalone panel.
  • calibration-related data such as scaling factors, zero points and reference frames.

pr2_ethercat_drivers: eml | ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • visualization of the pressure map in Rviz or in a standalone panel.
  • calibration-related data such as scaling factors, zero points and reference frames.

pr2_ethercat_drivers: eml | ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • visualization of the pressure map in Rviz or in a standalone panel.
  • calibration-related data such as scaling factors, zero points and reference frames.

pr2_ethercat_drivers: ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • Maintainer status: maintained
  • Maintainer: Austin Hendrix <ahendrix AT willowgarage DOT com>
  • Author: Blaise Gassend <blaise AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/PR2/pr2_ethercat_drivers.git (branch: hydro-devel)
pr2_ethercat_drivers: ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • Maintainer status: maintained
  • Maintainer: Austin Hendrix <ahendrix AT willowgarage DOT com>
  • Author: Blaise Gassend <blaise AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/PR2/pr2_ethercat_drivers.git (branch: hydro-devel)
pr2_ethercat_drivers: ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

pr2_ethercat_drivers: ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Blaise Gassend <blaise AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/pr2/pr2_ethercat_drivers.git (branch: kinetic-devel)
pr2_ethercat_drivers: ethercat_hardware | fingertip_pressure

Package Summary

This package provides access to the PR2 fingertip pressure sensors. This information includes:

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Blaise Gassend <blaise AT willowgarage DOT com>
  • License: BSD
  • Source: git https://github.com/pr2/pr2_ethercat_drivers.git (branch: kinetic-devel)

Each pr2 gripper is equipped with two pressure-sensitive fingertips. Each pressure comprises 22 pressure sensing elements: one on the back, 6 around the edges and a 3x5 array on the front. fingertip_pressure provides nodes to facilitate the visualization and interpretation of the fingertip pressure sensor data.

Stability

This package has not been reviewed so the API documented below should be considered unstable. Also, this package has not been user-tested, so there may be usability issues with the nodes.

ROS API

Overview of how the nodes interact with the robot sensor stream: attachment:overview.gif

Note: All nodes assume that <gripper_motor_name> is either r_gripper_motor or l_gripper_motor.

sensor_info

Publishes sensor geometry, tf frame and unit scaling information.

Published Topics

/pressure/<gripper_motor_name>_info (fingertip_pressure/PressureInfo)
  • For each sensor, the tf frame is specified, and for each pressure sensing element, a scaling factor to Newtons, and rectangular geometry approximation are provided.

view_fingertip_pressure

RX visualization panel to show the fingertip pressure information. Allows conversion to N or kPa units and zero-offset removal.

Subscribed Topics

board (pr2_msgs/PressureState)
  • Raw data from the pressure sensor. If board is not remapped, it will be automatically remapped to pressure/r_gripper_motor. (For versions prior to and including 1.0.3, the source was always pressure/r_gripper_motor.)
<board>_info (fingertip_pressure/PressureInfo)
  • Sensor calibration, geometry and tf frame.

Example of view_fingertip_pressure GUI:

attachment:fingertip_sensors_panel.png

sphere_viz

Provide visualization markers of the fingertip pressure data.

Subscribed Topics

/pressure/<gripper_motor_name> (pr2_msgs/PressureState)
  • Raw data from the pressure sensor
/pressure/<gripper_motor_name>_info (fingertip_pressure/PressureInfo)
  • Sensor calibration, geometry and tf frame.

Published Topics

"/visualization_marker" (visualization_msgs/Marker)
  • Graphical objects to be displayed.

rectangle_viz

Provide visualization markers of the fingertip pressure data. A more limited form of sphere_viz that allows the geometry of the sensor output to be checked.

Subscribed Topics

/pressure/<gripper_motor_name> (pr2_msgs/PressureState)
  • Raw data from the pressure sensor
/pressure/<gripper_motor_name>_info (fingertip_pressure/PressureInfo)
  • Sensor calibration, geometry and tf frame.

Published Topics

"/visualization_marker" (visualization_msgs/Marker)
  • Graphical objects to be displayed.

sim_sensor

Allows the fingertip_pressure package to be tested without actual hardware by providing a raw sensor data feed.

Published Topics

/pressure/<gripper_motor_name> (pr2_msgs/PressureState)
  • Simulated pressure sensor data.

Launch files

launch/fingertip_demo.launch is a standalone demo of the package's capabilities. It runs all the package's nodes, and rviz (to view the visualization markers). This should demonstrate all the packages capabilities.

Example:

$ roslaunch launch/fingertip_demo.launch

and in a separate shell:

$ roscd pr2_gazebo
$ roslaunch pr2_empty.launch

Wiki: fingertip_pressure (last edited 2010-04-07 23:57:04 by BlaiseGassend)