hand_arm_cbt

A top-level package to coordinate a robot with a soft pneumatic hand.

Dependencies

Hardware:

• A pressure control system running my custom firmware
• A robot arm (currently tested only with a UR5e)
• A desktop computer running Linux (currently tested only in Ubuntu 18.04)

Software:

• ROS Melodic
  • My pressure_control_cbt package for ROS
  • My version of rosbag_recorder for ROS
  • The ur_modern_driver ROS package with e-series support (by plusone robotics)
  • The bond package for ROS
• Various python libraries:
  • scipy (pip install scipy)
  • numpy (pip install numpy)
  • numbers (pip install numbers)
  • matplotlib (pip install matplotlib)
  • pynput (pip install pynput)
  • yaml (pip install pyyaml)

Installation

1. Add this package to your workspace/src folder.
2. Run catkin_make to enable the custom python modules in this package to work

Usage

See the Documentation