Raspberry (1 or 2) setup

1. sudo apt-get install git cmake g++ libboost-thread-dev
2. git clone --recursive https://github.com/ipa320/cob_hand.git
3. mkdir cob_hand/cob_hand_bridge/client/build
4. cd cob_hand/cob_hand_bridge/client/build
5. cmake ..
6. make
7. make install (OPTIONAL)

Raspberry usage

cob_hand_bridge */dev/ttyToROS[@baudrate]* [looprate (default: 20Hz)]

Maintenance

update ros_lib (on a ROS PC)

1. cd cob_hand/cob_hand_bridge/client/
2. python make_library.py

ROS usage

Overlay for rosserial: git clone https://github.com/ipa-mdl/rosserial.git -b indigo-devel

Run roslaunch cob_hand_bridge serial_bridge.launch port:=*/dev/ttyToRasp* [baud:=...]

Publications:
* /cob_hand_bridge/status [cob_hand_bridge/Status]

Subscriptions: * /cob_hand_bridge/set_pin [std_msgs/UInt8]: set single pin * /cob_hand_bridge/clear_pin [std_msgs/UInt8]: clear single pin * /cob_hand_bridge/command [cob_hand_bridge/JointValues]: motor command

Services: * /cob_hand_bridge/set_pwm [cob_hand_bridge/SetPWM]: set pwm output for multiple pins * /cob_hand_bridge/init_finger [cob_hand_bridge/InitFinger]: init SDHx * /cob_hand_bridge/halt [std_srvs/Trigger]: stop motor motion * /cob_hand_bridge/init_pins [cob_hand_bridge/InitPins]: set direction of pins, especially output/pwm pins * /cob_hand_bridge/update_pins [cob_hand_bridge/UpdatePins]: set and clear multiple ourput pins

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