## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(fingertip_pressure)>>

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.

<<TOC(4)>>

== 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 | {{attachment:overview.gif}}]]

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

{{{
#!clearsilver CS/NodeAPI
node.0 {
name=sensor_info
desc=Publishes sensor geometry, tf frame and unit scaling information.
pub{
 0.name= /pressure/<gripper_motor_name>_info
 0.type= fingertip_pressure/PressureInfo
 0.desc= 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.
}
}
node.1 {
name=view_fingertip_pressure
desc=RX visualization panel to show the fingertip pressure information. Allows conversion to N or kPa units and zero-offset removal.
sub{
 0.name= board
 0.type= pr2_msgs/PressureState
 0.desc= 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.)
 1.name= <board>_info
 1.type= fingertip_pressure/PressureInfo
 1.desc= Sensor calibration, geometry and tf frame.
}
}
}}}
Example of `view_fingertip_pressure` GUI:

[[attachment:fingertip_sensors_panel.png| {{attachment:fingertip_sensors_panel.png}}]]
{{{
#!clearsilver CS/NodeAPI
node.2 {
name=sphere_viz
desc=Provide visualization markers of the fingertip pressure data.
sub{
 0.name= /pressure/<gripper_motor_name>
 0.type= pr2_msgs/PressureState
 0.desc= Raw data from the pressure sensor
 1.name= /pressure/<gripper_motor_name>_info
 1.type= fingertip_pressure/PressureInfo
 1.desc= Sensor calibration, geometry and tf frame.
}
pub{
 0.name= "/visualization_marker"
 0.type= visualization_msgs/Marker
 0.desc= Graphical objects to be displayed.
}
}
node.3 {
name=rectangle_viz
desc=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.
sub{
 0.name= /pressure/<gripper_motor_name>
 0.type= pr2_msgs/PressureState
 0.desc= Raw data from the pressure sensor
 1.name= /pressure/<gripper_motor_name>_info
 1.type= fingertip_pressure/PressureInfo
 1.desc= Sensor calibration, geometry and tf frame.
}
pub{
 0.name= "/visualization_marker"
 0.type= visualization_msgs/Marker
 0.desc= Graphical objects to be displayed.
}
}
node.4 {
name=sim_sensor
desc=Allows the fingertip_pressure package to be tested without actual hardware by providing a raw sensor data feed.
pub{
 0.name= /pressure/<gripper_motor_name>
 0.type= pr2_msgs/PressureState
 0.desc= 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
}}}

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