DH hand controller

Description

This is the control interface for the DH hand.

Software Architecture

The controller use ROS actionlib interface to control the displacement of joint associated hand.

---

Directory Structure

dh_hand_driver/
    ├── CMakeLists.txt
    ├── package.xml
    ├── README.md						# This file
    ├── action/
    │   └── ActuateHand.action			# To generate action header file
    ├── doc/
    │   └── <RegisterList>.xlsx			# List of Register 
    ├── include/
    │   └── dh_hand_driver/
    │       ├── definition.h			# All defintion of enum
    │       ├── DH_datastream.h			# Data Structure Class
    │       ├── hand_controller.h		# Main Controller Class
    │       └── hand_driver.h			# Process data Structure
    ├── launch/
    │   └── dh_hand_controller.launch	# Controller launch file
    ├── lib/
    │   └──libdh_hand_driver.so			# Dynamic Link Library
    ├── scripts/						# rule scripts
    │   ├── create_hand_rules.sh		
    │   ├── delete_hand_rules.sh
    │   └── DH_hand.rules
    ├── src/
    │   ├── node.cpp					# Controller Main Node
    │   ├── test_client.cpp				# Test hand example
    │   ├── hand_controller_usr_client.cpp  # control hand for user
    └── srv/  
		└── hand_state.srv           	# To genrate servise header file

---

Installation

1. Make sure you have already installed and Configured Your ROS Environment

2. Create and build a catkin workspace: (you can skip this step , if you have already created it)

   $ mkdir -p ~/catkin_ws/src
   $ cd ~/catkin_ws/
   $ catkin_make
   

3. Install Dependencies :

   $ sudo apt-get install ros-<distro>-serial
   

   Using the short name of your ROS distribution instead of <distro>

   If you installed ROS Kinetic, that would be:

   $ sudo apt-get install ros-kinetic-serial
   

   or you can visit Serial on Github to install the driver.

4. Clone the whole directory( dh_hand_driver ) to your catkin's workspace src folder

5. Compile the code

   $ cd ~/catkin_ws/
   $ catkin_make
   

   Notice: If compile error : dh_hand_driver/hand_state.h: No such file or directory please compile it again

6. Add the path including to the ROS_PACKAGE_PATH environment variable. Open ~/.bashrc file and add at the end the following line.

   source ~/catkin_ws/devel/setup.bash
   

7. Remap Serial port

   $ cd ~/catkin_ws/src/dh_hand_driver/
   $ ./scripts/create_udev_rules.sh
   

---

Instructions

1. Connect all hardware and Turn on the power

   Then check the remap using following command : $ ls -l /dev | grep ttyACM

   You will see output such as the following

   lrwxrwxrwx  1 root root           7 9月   5 15:01 DH_hand -> ttyACM0
   crwxrwxrwx  1 root dialout 166,   0 9月   5 15:01 ttyACM0
   

   After you have change the Serial port remap, you can change the launch file about the serial_port value:(this is default) <param name="serial_port" type="string" value="/dev/DH_hand"/>

   otherwise change the launch file (such as /dev/ttyACM0) : <param name="serial_port" type="string" value="/dev/ttyACM0 "/>

   ​ And add the authority of write :$ sudo chmod 666 /dev/ttyACM0

2. Modify launch file and Running controller

   First , Modify the dh_hand_controller.launch file in according to the product model (AG-2E or AG-3E) <param name="Hand_Model" type="string" value="AG-2E"/> Now , you can running controller

   $ roslaunch dh_hand_driver dh_hand_controller.launch		
   

   If If it runs successfully , you will see the initialization of the hand

3. Run the client

   after you run the dh_hand_controller.launch , you can run the hand_controller_client to control it

   $ rosrun dh_hand_driver hand_controller_client [motorID][position][Force]
   

   motorID : AG-2E has one motor , this parameter just be 1; AG-3E has two motor , this parameter can be 1 or 2

   position : Range from 0 to 95

   Force : Range from 30 to 90

   such as :

   $ rosrun dh_hand_driver hand_controller_client 1 50 90
   

4. Study how to use it

   you can read the test_client.cpp in /dh_hand_driver/src folder to study

   we use the actionlib to send Goal and get Feedback and Result:

   Goal : motorID , position and Force

   Feedback : Whether to reach the target Position

   Result : Whether successful execution

   And we use the service to get the hand state:

   get Force : = 0

   get Position 1 : = 1

   get Position 2 : = 2

5. about user client

 $ rosrun dh_hand_driver hand_controller_usr_client

when we publish the /dh_hand topic

 $ rostopic pub /dh_hand std_msgs/Int8 "data: 10"

the dh grasp will call the graspOnceCallback function and the grasp excute action.

6. Enjoy it