<> <> ## AUTOGENERATED DON'T DELETE ## CategoryPackage == Overview == The sr_robot_lib package is where the incoming etherCAT packets are interpreted and stored in the correct structured to be made available for the controllers. This package also contains a class which builds the etherCAT command we want to send to the hand, based on the configuration file [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config/motor_data_polling.yaml|motor_data_polling.yaml]], the data is updated at different rates. == Config files == The [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config|config]] folder contains most of the configuration for the hand driver (except the controller configuration): * [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config/calibration.yaml|calibration.yaml]] is the calibration table for the different joints. You can calibrate the hand using the hand_calibration plugin in [[sr_control_gui]] * [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config/friction_compensation.yaml|friction_compensation.yaml]] contains the different [[sr_friction_compensation|friction maps]]. * [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config/joint_to_motor_mapping.yaml|joint_to_motor_mapping.yaml]] is where the mapping from a given joint to a motor index is defined. * [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config/motor_data_polling.yaml|motor_data_polling.yaml]] contains the different update rates. * [[http://bazaar.launchpad.net/~shadowrobot/sr-ros-interface-ethercat/sr_hand_palm_edc/view/head:/sr_robot_lib/config/sensor_to_joint.yaml|sensor_to_joint.yaml]] contains the mapping between the joints and the sensors: for example FFJ0 is the sum of FFJ1 and FFJ2, while THJ5, which is a compound sensor is the sum of THJ5a+THJ5b.