Note: This tutorial assumes that you have completed the previous tutorials: Starting a set of Controllers.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Controlling the EtherCAT Hand

Description: How can you send targets to the EtherCAT hand.

Tutorial Level: BEGINNER


Once the controllers are started (see the previous Tutorial), you can control the hand by sending targets to the controllers. There's one controller per joint, so you just need to have a publisher per joint you want to publish to.

Using a program

You can look at this example to see how to send a target to a given controller in c++.

Using a GUI

See sr_visualization.

Wiki: sr_edc_ethercat_drivers/Tutorials/Controlling the EtherCAT Hand (last edited 2014-02-17 11:58:48 by UgoCupcic)