<> <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage == 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 [[http://www.ros.org/doc/api/cyberglove/html/srv/Start.html|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. {{attachment:glove_btn.png|The Cyberglove, with the wrist button highlighted|width=400}} * '''/cyberglove/calibration''': A [[http://www.ros.org/doc/api/cyberglove/html/srv/Calibration.html|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. {{{ }}} 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 [[http://www.gentoo.org/doc/en/bluetooth-guide.xml|Gentoo wiki]].