Sensorized Hand

About

This repository contains the control code for a custom, fully-actuated sensorized hand. It is designed to be implemented on a Raspberry Pi with ROS 2, which requires Ubuntu 22.04.

Installation

Create a ROS 2 workspace. Within the source directory clone this repo:

git clone --recurse-submodules git@github.com:OSUrobotics/sensorized_hand.git

Install the required dependencies:

python3 -m pip install dynamixel-control

Build the workspace by running colcon build from the /src folder:

colcon build --symlink-install
. install/setup.bash

Don't forget to add sourcing both the workspace and ROS install to the .bashrc!

Usage

To launch everything, run:

ros2 launch fingers all_launch.py

To launch only the IMUs, TOFs, or motors:

ros2 launch imu bringup_imus_launch.py 

ros2 launch tof tof_bringup_launch.py 

ros2 run fingers motor_control.py 

Other notes

You may need to downgrade setup tools:

pip install setuptools==58.2.0

To see devices on an I2C bus (number is the bus):

i2cdetect -y 1

To see Raspi temp or if it is throttled:

vcgencmd measure_temp
vcgencmd get_throttled