This ROS package defines several nodes and message types for working with the Brunel Hand by Open Bionics.
hand_dev_file: device file corresponding to serial connection with Brunel Hand. Default value is /dev/ttyACM0
This package is being developed with the ROS Kinetic distribution as its initial target, but backward and forward ports are planned.
Dependencies:
- serial (on GitHub: https://github.com/wjwwood/serial/)
As an initial demonstration, try
roslaunch brunel_hand_ros toggle_fist.launch
This will start examples/toggle-fist.py and the main interface node, named
proxy. The hand should begin to alternate between open and closed fists.
For interaction with the hand firmware directly over USB, the serial connection speed is 115200 bps (bits per second), and no carrier-watch. E.g., using C-Kermit and supposing that your host computer associated /dev/ttyACM0 with the USB device,
kermit -l /dev/ttyACM0
> set speed 115200
> set carrier-watch off
> set terminal lf-display CRLF
> connect
After connecting, try # to get the system diagnostics, and try ? to get the
list of serial commands.
- https://www.openbionics.com/obtutorials/artichoke-v-1-1-control-methods
- https://www.openbionics.com/obtutorials/artichoke-v1-2-firmware-user-guide
This is free software, released under the Apache License, Version 2.0. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.