<<PackageHeader(numatac_can_driver)>> <<TOC(4)>>

== Overview ==
The numatac_can_driver package provides a ROS interface to NumaTac tactile sensors over a CAN interface. See [[https://www.syntouchllc.com/Products/NumaTac/_media/NumaTac_Product_Manual.pdf|product manual ]] for details.

== Bring-up ==
To bring up the NumaTac tactile sensors, plug in the USB connector.  Configure the CAN interface by running the following command in a command line prompt:

`sudo ip link set can0 type can bitrate 1000000`

and finally bring-up the CAN interface using:

`sudo ifconfig can0 up`

To run the driver use:

`roslaunch numatac_can_driver numatac_can_driver.launch`

== ROS API ==

{{{
#!clearsilver CS/NodeAPI
node.0 {
name=numatac_can_node
desc=Publishes an array of containing each fingers sensor readings of fluid and dynamic pressure in Pa.
pub{
 0.name= hand_pressure
 0.type= numatac_can_driver/HandPressure
 0.desc= An array of containing each fingers sensor readings of fluid and dynamic pressure in Pa.
}
}
  param {
    0.name = ~canbus_dev
    0.type = `string`
    0.default = can0
    0.desc = The CANBUS interface.
    1.name = ~number_of_sensors
    1.type = `int`
    1.default = 3
    1.desc = The amount of NumaTac sensors on the hand/end-effector.
    2.name = ~tare
    2.type = `bool`
    2.default = false
    2.desc = The option the tare the readings based on the first reading.
  }
}}}




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