|Note: This tutorial assumes that you have completed the previous tutorials: Control Modes, Waypoint Control.|
|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.|
API ControlDescription: Custom control application using the qbrobotics API
Keywords: qbrobotics SoftHand control
Tutorial Level: ADVANCED
If you need a complex (i.e. real) control application, e.g. the qb SoftHand is mounted on a robot which uses computer vision aid to grasp objects, the previous two control modes don't really help much. What we provide for real applications is the full ROS libraries to manage and control the hand.
You have to dig into the qb_hand package documentation and find what better suite for your needs, e.g. extend the qbDeviceControl class provided, or even redesign some of its parts by following an approach similar to ours.
Our recommendation is to use as much as possible our resources, classes and macros to help you while developing your application. Don't reinvent the wheel!
At last, if you come up with a something useful for the whole community, it will be amazing if you propose your improvement with a Pull Request in the package of interest on our Bitbucket.