QB Robotics SoftHand2 Research General Manual page 32

28 — SOFTWARE
It is worth noting that the activation of the motor can be postponed to improved safety if you are not
aware of the state of the system at startup. To do so just set
remove it since the default value is
activate_motors
rosservice call /communication_handler/activate_motors {"id: <actual_device_id>, max_repeats: 2"}
Additional arguments
•
control_duration [0.01]
•
get_currents [true]
•
get_positions [true]
device.
•
get_distinct_packages [true]
measurements from the device in two distinct packages.
•
max_repeats [3]
corrupted.
•
set_commands [true]
•
set_commands_async [true]
•
use_rviz [false]
screen performing a similar behavior.
The rviz visualization is able to show only the device behavior when the first synergy is

controlled.
•
use_without_robot [true]
with other robots is better to set it apart).
Be aware that the qb SoftHand2 Research is desensorized and therefore it is not possible to

know exactly the position of each finger: the screen visualization is just the result of an
estimation of the closure value and may differ from the real configuration of your qb SoftHand
(e.g. when grasping an object).
Two different controller has been implemented within the qbrobotics ROS package for the qbSoftHand2
Research:
• The
synergies_trajectory_controller
two synergies (named
• The
motor_positions_trajectory_controller
directly each motor, named
GENERAL MANUAL — SEP 8, 2022 — RELEASE: V1.0.2
Service, when your system is ready, e.g. as follows:
: The duration of the control loop expressed in seconds.
: Choose whether or not to retrieve current measurements from the device.
: Choose whether or not to retrieve position measurements from the
: Choose whether or not to retrieve current and position
: The maximum number of consecutive repetitions to mark retrieved data as
: Choose whether or not to send command positions to the device.
: Choose whether or not to send commands without waiting for ack.
: Choose whether or not to use rviz. If enabled you should see a virtual hand on
: Choose whether or not to bring up robot description (e.g. when using
synergy_joint
motor_1_joint
activate_on_initialization:=false
) and make a call to the Communication Handler
false
: using this controller it is possible to control directly the
and
manipulation_joint
: using this controller it is possible to control
and
motor_2_joint
);
. The first motor controls the part
(or