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Device Setup
Connect a qb SofClaw to your system is basically a matter of plugging in a USB cable. Nonetheless, read
carefully the manual to understand all the requirements and advice about either single-device or
chained configurations.
6.1.2 Usage
As shown in the following picture there are two distinct configurations to control several qb
SoftClaw devices connected to the system:
•
The first (and recommended) groups all the Hardware Interfaces together (thanks to the
combined_robot_hw
just to point out that every sequence of reads and writes is always done in the same predefined order.
•
The second mode threats every device as an independent Hardware Interface with its dedicated ROS
Node which executes the control loop independently w.r.t. the rest of the system, i.e.
"asynchronously".
Mixed configurations can be also achieved through a proper setup. In such a case we can think of
synchronous sub-systems which execute asynchronously w.r.t. each other.
In a single-device system the synchronous mode is a nonsense.
In both cases there is always one central Node which manages the shared resources for the serial
communication (e.g. one or many USB ports) and which provides several ROS services to whom wants to
interact with the connected devices. This Node is called Communication Handler and it is usually started
in a separate terminal.
https://wiki.ros.org/combined_robot_hw
10
10
) and exploits them as a unique robot system. We have called it "synchronous"
Figure 5. — qb SoftClaw ROS control mode schemes
SOFTCLAW — 23
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