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Shadow Robot - EtherCAT driver

This stack focuses on the drivers for our etherCAT hand.

Warning: be careful when starting the hand. Make sure you’re using the proper config files or you might damage the hardware. If in doubt contact us!

Launching the Hand Driver

• sr_edc.launch Launches a single hand

• sr_edc_bimanual.launch Launches 2 hands (as part of the same bimanual robot)

Use

Direct use

For a single hand, with default parameters:

roslaunch sr_edc_launch sr_edc.launch

For a bimanual system you will need to specify at least the serial numbers for the right and left hand:

roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235

Use from another launchfile

E.g. for a bimanual system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc_bimanual.launch" >
    <arg name="rh_serial" value="1234" />
    <arg name="lh_serial" value="1235" />
    <arg name="eth_port" value="eth0_eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/bimanual_shadowhand_motor.urdf.xacro" />
  </include>
</launch>

E.g. for a single hand system:

<launch>
  <include file="$(find sr_edc_launch)/sr_edc.launch" >
    <arg name="eth_port" value="eth1" />
    <arg name="robot_description" value="$(find sr_description)/robots/shadowhand_motor_biotac.urdf.xacro" />
  </include>
</launch>

Available arguments for sr_edc_bimanual.launch

• eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.

roslaunch sr_edc_launch sr_edc_bimanual.launch rh_serial:=1234 lh_serial:=1235 eth_port:=eth0_eth1

• debug: Set to true for debugging
• calibration_controllers: Set to 0 if we don’t want to run calibration controllers (e.g. for the muscle hand)
• robot_description: Xacro file containing the robot description we want to load
• pwm_control: The control mode PWM (true) or torque (false)
• rh_serial: The ethercat serial number for the right hand
• rh_id: The id for the right hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.
• lh_serial: The ethercat serial number for the left hand
• lh_id: The id for the left hand. It needs to be the same (but without trailing underscore) as the prefix used in the hand model.

Available arguments for sr_edc.launch

• eth_port: The ethernet port/s that will be used to search for etherCAT devices (shadow hands or other devices like RoNeX). More than one port can be provided in this argument, using underscore as a separator.
• debug: Set to true for debugging
• calibration_controllers: Set to 0 if we don’t want to run calibration controllers (e.g. for the muscle hand)
• robot_description: Xacro file containing the robot description we want to load
• pwm_control: The control mode PWM (true) or torque (false)