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 (master branch) |
| Inherits |
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| Dependencies |
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| PACKAGECONFIG options |
Sources
| git://github.com/ipa320/schunk_modular_robotics-release |
Patches
None
bbappends
This recipe is appended by:
| meta-ros1-melodic | schunk-simulated-tactile-sensors_0.6.14-1.bbappend |
| 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 (this recipe) |
| 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 |
| 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 |