bhand_controller¶

Message types¶

• bhand_controller/State
• bhand_controller/Service
• bhand_controller/TactileArray

bhand_controller/State¶

Constant:	INIT_STATE (int32):100 – STANDBY_STATE (int32):200 – READY_STATE (int32):300 – EMERGENCY_STATE (int32):400 – FAILURE_STATE (int32):500 – SHUTDOWN_STATE (int32):600 –
Field:	state (int32) – control_mode (string) – hand_initialized (bool) – desired_freq (float32) – real_freq (float32) – state_description (string) – temp_f1[2] (float32) – temp_f2[2] (float32) – temp_f3[2] (float32) – temp_spread[2] (float32) –

constants

# constants
int32 INIT_STATE = 100
int32 STANDBY_STATE = 200
int32 READY_STATE = 300
int32 EMERGENCY_STATE = 400
int32 FAILURE_STATE = 500
int32 SHUTDOWN_STATE = 600


# state of the component
int32 state
# Control mode
string control_mode
# Flag active when the hand position has been initialized
bool hand_initialized
# desired control loop frecuency
float32 desired_freq
# real frecuency 
float32 real_freq
# Description of the state
string state_description
# [temp_motor, temp_puck]
float32[2] temp_f1
# [temp_motor, temp_puck]
float32[2] temp_f2
# [temp_motor, temp_puck]
float32[2] temp_f3
# [temp_motor, temp_puck]
float32[2] temp_spread

bhand_controller/Service¶

Constant:	INIT_HAND (int32):1 – CLOSE_GRASP (int32):2 – OPEN_GRASP (int32):3 – SET_GRASP_1 (int32):4 – SET_GRASP_2 (int32):5 – CLOSE_HALF_GRASP (int32):6 –

constants

# constants
int32 INIT_HAND = 1
int32 CLOSE_GRASP = 2
int32 OPEN_GRASP = 3
int32 SET_GRASP_1 = 4
int32 SET_GRASP_2 = 5
int32 CLOSE_HALF_GRASP = 6

bhand_controller/TactileArray¶

Field:	header (std_msgs/Header) – finger1[] (float32) – finger2[] (float32) – finger3[] (float32) – palm[] (float32) –

Header header
# Units in N/cm2
# array sensor of the finger 1
float32[] finger1
# array sensor of the finger 2
float32[] finger2
# array sensor of the finger 3
float32[] finger3
# array sensor of the palm
float32[] palm

Service types¶

• bhand_controller/SetControlMode
• bhand_controller/Actions

bhand_controller/SetControlMode¶

Field (Request):
	mode (string) –
Field (Response):
	ret (bool) –

POSITION, VELOCITY

# POSITION, VELOCITY
string mode
---
bool ret

bhand_controller/Actions¶

Field (Request):
	action (int32) –
Field (Response):
	ret (bool) –

Action ID defined in bhand/msg/Service.msg

# Action ID defined in bhand/msg/Service.msg
int32 action
---
bool ret