|Note: This tutorial assumes that you have completed the previous tutorials: Control Modes.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
GUI ControlDescription: Control the qb SoftHand Research and the qb SoftHand2 Research through a simple GUI
Keywords: qbrobotics SoftHand SoftHand2 control
Tutorial Level: BEGINNER
Next Tutorial: Waypoint Control
This control mode is the one suggested to test that everything is working as expected. You are able to open and close the qb SoftHand Research or to command both the synergies of the qb SoftHand2 Research interactively, but nothing more than this.
Note that you will probably need this only the very first times and for debugging.
To start this mode just add use_controller_gui:=true to the general roslaunch command (be sure that the opposite use_waypoints is not used).
After a while a GUI should appear to screen with two empty dropdown menus, a red enable button below them, and a speed scaling slider at the bottom.
Select the Controller Manager namespace from the left menu, e.g. /<robot_namespace>/control/controller_manager (where <robot_namespace> is an additional argument of the launch file needed with several devices). This enables the right menu which provides all the controllers available for the connected device.
- Select the proper controller from the second dropdown menu and enable it through the circular button.
A single or a double slider (depending on the device connected) will appear in the GUI to control the robotic hand. These commands are normalized. Move the slider to perform a complete grasp or to partially open/close the hand. You can also vary the speed through the bottom speed scaling slider if you like a faster/slower motion. No other timing constraints can be set in this mode.