How to use the package!

[sinamr88]

Hi All,

By following the provided tutorial, I have already tried for several hours to send send a simple opening and closing command to hand, but I have failed!.. Based on the tutorial this topic should be used for sending commands to the hand:

/qbhand1/control/qbhand1_synergy_trajectory_controller/command
/qbhand1/control/qbhand1_synergy_trajectory_controller/follow_joint_trajectory/goal

However any command I send results in

[ERROR] [1545057161.382162159]: Joints on incoming goal don't match the controller joints.
[ERROR] [1545057182.907966187]: Joints on incoming goal don't match the controller joints.

Can you provide a simple rostopic pub example????

Thanks
Best
Sina

[qbrobotics-AT]

Hello @sinamr66,

I assume you are launching the control node for the hand in a way similar to the following:

roslaunch qb_hand_control control.launch standalone:=true activate_on_initialization:=true device_name:=my_hand

If so, you just need to use the right name of the virtual joint (which control the percent position closure of the qb SoftHand) when sending the command to the hand, e.g.

rostopic pub -1 /my_hand/control/my_hand_synergy_trajectory_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'my_hand_synergy_joint'
points:
- positions: [0.5]
  velocities: [0]
  accelerations: [0]
  effort: [0]
  time_from_start: {secs: 1, nsecs: 0}"

Please, let me know if this works.

Best regards,
Alessandro Tondo

[sinamr88]

Hi Alessandro,

Thank you so much. It helped a lot and it worked...In my code the name of the joint and the time_from_start were missing.

Best,
Sina