Package ROHand

Nodes for ROHand. One bus, i.e. one port need one node.

1. Preparation

1.1. Install PCAN-Linux-Driver

Download from https://www.peak-system.com/fileadmin/media/linux/index.php

tar -xzf peak-linux-driver-8.20.0.tar.gz
cd peak-linux-driver-8.20.0
sudo make && sudo make install

1.2. Install PCAN-Basic lib

Download from https://www.peak-system.com/PCAN-Basic-Linux.433.0.html?&L=1

tar -xzf PCAN-Basic_Linux-4.10.0.4.tar.gz
cd PCAN-Basic_Linux-4.10.0.4/libpcanbasic/pcanbasic
make clean
sudo make && sudo make install

1.3. Install python-can

cd /path/to/workspace  # Should be ~/ros2_ws/src

# Create a vertual env for python
virtualenv -p python3 ./venv

# Make sure that colcon doesn’t try to build the venv
touch ./venv/COLCON_IGNORE

# Activate
source ./venv/bin/activate

# Install python module
python3 -m pip install -e .

Edit `~/bashrc` and add virtual env lib path to PYTHONPATH

```BASH
export PYTHONPATH=$PYTHONPATH:~/ros2_ws/src/venv/lib/python3.12/site-packages  # Modify python3.12 to your actual version
source ~/.bashrc

2. Clone

cd ~
mkdir -p ros2_ws/src
cd ros2_ws/src
git clone ssh://git@github.com/oymotion/rohand_ros2_pkg

3. Compile

cd /path/to/workspace
colcon build

3.1. Install requirements

cd /path/to/workspace/rohand_ros2_pkg
pip3 install -r requirements.txt

4. Node rohand_can_serial

ROHand node for SerialCtrl Protocol, Dual Protocol is NOT supported. Please confirm protocol type in OHandSetting. Listens to topic 'target_joint_state' and controls ROHand, reads current joint state and publish to 'current_joint_state'.

4.1 Topics

Topic	Description
"current_joint_state"	current joint state in message type JointState, frame_id in header distinguishes hand id
"target_joint_state"	target joint state in message type JointState, frame_id in header distinguishes hand id
"finger_state"	finger status in message type UInt8MultiArray

4.2 Run

# Prepare package
source install/setup.bash

# Run ROH-LiteS001 node
ros2 run rohand rohand_can_serial_lites001

# Or parse parameters:

ros2 run rohand rohand_can_serial_lites001 --ros-args -p baudrate:=1000000 -p hand_ids:=[2,3] -p master_ids:=[1,4]  # Modify parameters according to your real case

#Run ROH-ap001 node
ros2 run rohand rohand_can_serial_ap001 --ros-args -p baudrate:=1000000 -p hand_ids:=[2,3] -p master_ids:=[1,4]  # Modify parameters according to your real case

#Run ROH-a001 node
ros2 run rohand rohand_can_serial_a001 --ros-args -p baudrate:=1000000 -p hand_ids:=[2,3] -p master_ids:=[1,4]  # Modify parameters according to your real case

Finger status code:

Name	Code	Description
STATUS_OPENING	0	Spreading
STATUS_CLOSING	1	Grasping
STATUS_POS_REACHED	2	Position reached stop
STATUS_OVER_CURRENT	3	Current protection stop
STATUS_FORCE_REACHED	4	Force control reached stop
STATUS_STUCK	5	Motor stuck stop

5. Node rohand_modbus

ROHand node for ModBus-RTU or ModBus-RTU & SerialCtrl Dual Protocol. Please confirm protocol type in OHandSetting. Listens to topic 'target_joint_state' and controls ROHand, reads current joint state and publish to 'current_joint_state'.

5.1 Topics

Topic	Description
"current_joint_state"	current joint state in message type JointState, frame_id in header distinguishes hand id
"target_joint_state"	target joint state in message type JointState, frame_id in header distinguishes hand id

5.2 Run

# Prepare package
source /path/to/workspace/install/bash

# Insert USB-485 module to USB port then add permission to users
# Run following command every time you plug in your USB-485 module
sudo chmod o+rw /dev/ttyUSB0  # Modify ttyUSB0 to your actual device name

# Run ROHand node according to your type
#
# Run ROH-A001 node
ros2 run rohand rohand_modbus_a001 --ros-args -p port_name:="/dev/ttyUSB0" -p baudrate:=115200 -p hand_ids:=[2]  # Modify parameters according to your real case

# Run ROH-AP001 node
ros2 run rohand rohand_modbus_ap001 --ros-args -p port_name:="/dev/ttyUSB0" -p baudrate:=115200 -p hand_ids:=[2]  # Modify parameters according to your real case

# Run ROH-LiteS001 node
ros2 run rohand rohand_modbus_lites001 --ros-args -p port_name:="/dev/ttyUSB0" -p baudrate:=115200 -p hand_ids:=[2]  # Modify parameters according to your real case

6. Node rohand_serial

ROHand node for SerialCtrl Protocol, Dual Protocol is NOT supported. Please confirm protocol type in OHandSetting. Listens to topic 'target_joint_state' and controls ROHand, reads current joint state and publish to 'current_joint_state'.

6.1 Topics

Topic	Description
"current_joint_state"	current joint state in message type JointState, frame_id in header distinguishes hand id
"target_joint_state"	target joint state in message type JointState, frame_id in header distinguishes hand id
"finger_state"	finger status in message type UInt8MultiArray

6.2 Run

# Prepare package
source /path/to/workspace/install/bash

# Insert USB-485 module to USB port then add permission to users
# Run following command every time you plug in your USB-485 module
sudo chmod o+rw /dev/ttyUSB0  # Modify ttyUSB0 to your actual device name

# Run ROHand node according to your type
#
# Run ROH-A001 node
ros2 run rohand rohand_serial_a001 --ros-args -p port_name:="/dev/ttyUSB0" -p baudrate:=115200 -p hand_ids:=[2]  # Modify parameters according to your real case

# Run ROH-AP001 node
ros2 run rohand rohand_serial_ap001 --ros-args -p port_name:="/dev/ttyUSB0" -p baudrate:=115200 -p hand_ids:=[2]  # Modify parameters according to your real case

# Run ROH-LiteS001 node
ros2 run rohand rohand_serial_lites001 --ros-args -p port_name:="/dev/ttyUSB0" -p baudrate:=115200 -p hand_ids:=[2]  # Modify parameters according to your real case

Finger status code:

Name	Code	Description
STATUS_OPENING	0	Spreading
STATUS_CLOSING	1	Grasping
STATUS_POS_REACHED	2	Position reached stop
STATUS_OVER_CURRENT	3	Current protection stop
STATUS_FORCE_REACHED	4	Force control reached stop
STATUS_STUCK	5	Motor stuck stop

7. Node rohand_teleop

Reads keys to modify target joint angles, then publish to 'target_joint_state'.

7.1 Topics

Topic	Description
"target_joint_state"	target joint state in message type JointState, frame_id in header distinguishes hand id

7.2 Run

# Prepare package
source /path/to/workspace/install/bash

# Run ROH-a001 node
ros2 run rohand rohand_teleop_a001 --ros-args -r rohand_teleop_node/target_joint_states:=/rohand_node/target_joint_states -p hand_id:=2  # Modify parameters according to your real case

# Run ROH-ap001 node
ros2 run rohand rohand_teleop_ap001 --ros-args -r rohand_teleop_node/target_joint_states:=/rohand_node/target_joint_states -p hand_id:=2  # Modify parameters according to your real case

# Run ROH-lites_001 node
ros2 run rohand rohand_teleop_lites001 --ros-args -r rohand_teleop_node/target_joint_states:=/rohand_node/target_joint_states -p hand_id:=2  # Modify parameters according to your real case

Press following keys to operate:

key	Description
q	quit
a	thumb bends by step
z	thumb relaxes by step
s	index bends by step
x	index relaxes by step
d	middle bends by step
c	middle relaxes by step
f	ring bends by step
v	ring relaxes by step
g	little bends by step
b	little relaxes by step
h	thumb rotation +step
n	thumb rotation -step

Step is range / 10.