schunk-simulated-tactile-sensors 0.6.14-1

Name schunk-simulated-tactile-sensors
Version 0.6.14-1 (9c564bf25230be619851564b7c939cd40e37ccc2)
Summary
Description This package provides simulated tactile sensors for the Schunk Dextrous Hand (SDH) which is mounted on the Care-O-bot arm. The node subscribes to the Gazebo bumper topics of the SDH. It transforms the Gazebo feedback to the "tactile_data" topic to provide the same tactile sensor interface as the schunk_sdh package. The following parameters can be set: * cells_x: The number of patches on the tactile sensor in the direction perpendicular to the finger. Defaults to 6. * cells_y: The number of patches on the tactile sensor along the direction of the finger. Defaults to 14. * output_range: The maximum output value of one patch. Defaults to 3500. * sensitivity: The change of output in one patch per Newton. Defaults to 350. The sensitivity can be approximated by the following formula: S = output_range / (measurement_range * cell_area) - The measurement range of the tactile pads is 250 kPa (from the data sheet). - The output range can be determined by experiment from the real SDH. It is about 3500. - The cell area is the size of one patch. Length and width of the area are determined by dividing the length/width of the collision surface by the number of cells in the respective direction. Important: In most cases this is NOT the cell area that is given in the data sheet! * filter_length: The length of the moving average filter which smoothes the values from simulation. Defaults to 10. The node subscribes to the following topics to receive data from the simulation: * thumb_2/state * thumb_3/state * finger_12/state * finger_13/state * finger_22/state * finger_23/state The node publishes the processed data on the following topic: * tactile_data The simulated bumper must obtain the collision data in the link that the sensor is attached to. This is achieved by setting the "frameName" property in the gazebo_ros_bumper controller.
Section devel
License Apache-2.0
Homepage http://ros.org/wiki/schunk_simulated_tactile_sensors
Recipe file generated-recipes/schunk-modular-robotics/schunk-simulated-tactile-sensors_0.6.14-1.bb
Layer meta-ros1-noetic (scarthgap branch)
Inherits
  • cmake
  • python3-dir
  • python3native
  • python3targetconfig
  • ros1_distro
  • ros_catkin
  • ros_component
  • ros_distro
  • ros_distro_noetic
  • ros_faulty_solibs
  • ros_opt_prefix
  • ros_superflore_generated
  • setuptools3-base
Dependencies
  • catkin-native
  • cmake-native
  • python3
  • python3-native
  • virtual/i686-oe-linux-compilerlibs
  • virtual/i686-oe-linux-gcc
  • virtual/libc
PACKAGECONFIG options

Sources

git://github.com/ipa320/schunk_modular_robotics-release

Patches

None

bbappends

This recipe is appended by:

meta-ros1-noetic schunk-simulated-tactile-sensors_0.6.14-1.bbappend

Other branches

This recipe in other branches of meta-ros1-noetic:

Branch Recipe
master schunk-simulated-tactile-sensors 0.6.14-1
styhead (Yocto Project 5.1) schunk-simulated-tactile-sensors 0.6.14-1
scarthgap (Yocto Project 5.0) schunk-simulated-tactile-sensors 0.6.14-1 (this recipe)
nanbield (Yocto Project 4.3) schunk-simulated-tactile-sensors
mickledore (Yocto Project 4.2) schunk-simulated-tactile-sensors
langdale (Yocto Project 4.1) schunk-simulated-tactile-sensors 0.6.14-1
kirkstone (Yocto Project 4.0) schunk-simulated-tactile-sensors
honister (Yocto Project 3.4) schunk-simulated-tactile-sensors
hardknott (Yocto Project 3.3) schunk-simulated-tactile-sensors 0.6.14-1
gatesgarth (Yocto Project 3.2) schunk-simulated-tactile-sensors
dunfell (Yocto Project 3.1) schunk-simulated-tactile-sensors