brunel_hand_ros

Introduction

This ROS package defines several nodes and message types for working with the Brunel Hand by Open Bionics. It is documented on the ROS Wiki at https://wiki.ros.org/brunel_hand_ros

Parameters

• hand_dev_file: device file corresponding to serial connection with Brunel Hand. Default value is /dev/ttyACM0

topics:

/fpose /motion_primitive /raw_input

Installation and dependencies

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/)

Getting started

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.

Internal interface notes

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.

References

• https://www.openbionics.com/obtutorials/artichoke-v-1-1-control-methods
• https://www.openbionics.com/obtutorials/artichoke-v1-2-firmware-user-guide

Participating

All participation must follow our code of conduct, elaborated in the file CODE_OF_CONDUCT.md in the same directory as this README.

Reporting errors, requesting features

Please first check for prior reports that are similar or related in the issue tracker at https://github.com/rerobots/brunel_hand_ros/issues If your observations are indeed new, please open a new issue

Security disclosures are given the highest priority and should be sent to Scott scott@rerobots.net, optionally encrypted using his public key. Please do so before opening a public issue to allow us an opportunity to find a fix.

Contributing changes or new code

Contributions are welcome! There is no formal declaration of code style. Just try to follow the style and structure currently in the repository.

Contributors, who are not rerobots employees, must agree to the Developer Certificate of Origin. Your agreement is indicated explicitly in commits by adding a Signed-off-by line with your real name. (This can be done automatically using git commit --signoff.)

License

This is free software, released under the Apache License, Version 2.0. You may obtain a copy of the License at

https://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.