<<PackageHeader(schunk_sdh)>>
<<TOC(4)>>

== Hardware Requirements ==
To use this package you need a schunk dexterous hand [[http://www.schunk-modular-robotics.com|www.schunk-modular-robotics.com]] with '''firmware version 0.0.2.18'''. Other firmware versions may work, but are not officially supported. Alternatively you can use a simulated version without any hardware, see [[cob_gazebo]].

== Software Requirements ==
The installation is tested for Ubuntu 10.04, 10.10, 11.04 and 11.10 using ROS [[electric]]. If you discover problems installing them on other platforms, please [[http://www.care-o-bot-research.org/contributing/mailing-lists|tell us]].

== ROS API ==
The [[schunk_sdh]] package provides a configurable node for operating a schunk dexterous hand.
{{{
#!clearsilver CS/NodeAPI
 name = sdh_only
 desc = The `schunk_sdh` node takes in <<MsgLink(trajectory_msgs/JointTrajectory)>> messages and send this directly to the hardware. The joint states can be received by [[Topics|topics]] and the sdh can be initialized, stopped or recovered via [[Services|services]].

goal{
 0.name=follow_joint_trajectory_action/goal
 0.type=control_msgs/FollowJointTrajectoryActionGoal
 0.desc=The goal describes the target trajectory for the sdh (at the moment only the position value of the last trajectory point is used).
}

result{
 2.name=follow_joint_trajectory_action/result
 2.type=control_msgs/FollowJointTrajectoryActionResult
 2.desc=empty
}

feedback{
 0.name=follow_joint_trajectory_action/feedback
 0.type=control_msgs/FollowJointTrajectoryActionFeedback
 0.desc=empty
}

sub{
 0.name = command
 0.type = trajectory_msgs/JointTrajectory
 0.desc = Receives direct commands.
}

pub{
 0.name = /joint_states
 0.type = sensor_msgs/JointState
 0.desc = Publishes the joint states of all joints.
}

srv{
 0.name = init
 0.type = cob_srvs/Trigger
 0.desc = Initializes the node and connects to the hardware.
 1.name = stop
 1.type = cob_srvs/Trigger
 1.desc = Stops immediately all hardware movements.
 2.name = recover
 2.type = cob_srvs/Trigger
 2.desc = Recovers the hardware after an emergency stop.
 3.name = set_operation_mode
 3.type = cob_srvs/Trigger
 3.desc = Sets the operation mode for the node.
}

param{
 0.name = ~sdhdevicetype
 0.type = string
 0.default = PCAN
 0.desc = Device type for can dongle hand
 1.name = ~sdhdevicestring
 1.type = string
 1.default = /dev/pcan0
 1.desc = Device identifier for hand, e.g. /dev/pcan32
 2.name = ~dsadevicestring
 2.type = string
 2.default = Required
 2.desc = Device identifier for tactile sensors, e.g. /dev/ttyUSB0
 3.name = ~baudrate
 3.type = int
 3.default = 1000000
 3.desc = Baudrate of can module, e.g. 1000, 500,...
 4.name = ~joint_names
 4.type = list of strings
 4.default = Required
 4.desc = List of joint names corresponding to urdf description, e.g. [sdh_thumb_3_joint, sdh_finger_11_joint,...]
 5.name = /robot_description
 5.type = urdf model
 5.default = Required
 5.desc = Urdf model of the robot, including the joints and links describing the sdh
}

req_tf{
}

prov_tf{
}

}}}
{{{
#!clearsilver CS/NodeAPI
 name = dsa_only
 desc = The `dsa_only` node publishes data from the tactile sensors in form of <<MsgLink(schunk_sdh/TactileSensor)>> messages.
pub{
 0.name = tactile_data
 0.type = schunk_sdh/TactileSensor
 0.desc = Publishes data from the tactile sensors.
}

param{
 0.name = ~dsadevicestring
 0.type = string
 0.default = Required
 0.desc = Device identifier for dsa, e.g. /dev/ttyS0
 1.name = ~polling
 1.type = bool
 1.defaut = false
 1.desc = Use polling mode for getting sensor data
 2.name = ~publish_frequency
 2.type = float
 2.defaut = 0.0
 2.desc = Frequency for publishing sensor data
}
}}}

== Usage/Examples ==
This package is not intended to be used directly, but with the corresponding launch and yaml files from e.g. [[schunk_bringup]] in the [[schunk_robots]] stack.
For using only the sdh use
{{{
roslaunch schunk_bringup sdh_solo.launch
}}}
For including the sdh in your overall launch file use
{{{
<include file="$(find schunk_bringup)/components/sdh.launch" />
}}}
All hardware configuration is done in the [[schunk_hardware_config]] package. A sample parameter file for the sdh in "schunk_hardware_config/sdh/config/sdh.yaml" could look like this
{{{
sdhdevicetype: PCAN
sdhdevicestring: /dev/pcan0
baudrate: 1000000
joint_names: ['sdh_knuckle_joint', 'sdh_thumb_2_joint', 'sdh_thumb_3_joint', 'sdh_finger_12_joint', 'sdh_finger_13_joint', 'sdh_finger_22_joint', 'sdh_finger_23_joint']
OperationMode: position
}}}
A sample parameter file for the dsa tactile sensors in "schunk_hardware_config/sdh/config/dsa.yaml" could look like this
{{{
dsadevicestring: /dev/ttyS0
polling: false
use_rle: true
frequency: 30
}}}

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