QB Robotics SoftHand2 Research General Manual page 33

of the hand that includes the thumb, the second one controls the part of the hand that includes the
little finger.
It is possible to switch between controllers with the following terminal command:
rosservice call /qbhand2m1/control/controller_manager/switch_controller "start_controllers:
ons_trajectory_controller']
stop_controllers: ['qbhand2m1_synergies_trajectory_controller']
strictness: 0
start_asap: false
timeout: 0.0"
The previous command can be executed only after launching the qb SoftHand2 Research node.

The previous command works with a device with ID 1. If a device with different id is used you

have to change the topic namespace. You can find the topic you need by running the command
rosservice list
The following are two examples of terminal commands useful to test the device behavior when:
• The
synergies_trajectory_controller
rostopic pub -1 /qbhand2m1/control/qbhand2m1_synergies_trajectory_controller/command trajectory_msgs/
JointTrajectory "header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names: [qbhand2m1_manipulation_joint, qbhand2m1_synergy_joint]
points:
- positions: [0, 1]
velocities: [0, 0]
accelerations: [0, 0]
effort: [0, 0]
time_from_start: {secs: 1, nsecs: 0}"
• The
motor_positions_trajectory_controller
index gesture):
rostopic pub -1 /qbhand2m1/control/qbhand2m1_motor_positions_trajectory_controller/command
trajectory_msgs/JointTrajectory "header:
seq: 0
stamp:
after the node is started.
QBSOFTHAND2 RESEARCH USER MANUAL — 29
is used (the qbSoftHand 2 Research closes completely):
is used (the qbSoftHand 2 Research perform an
['qbhand2m1_motor_positi