trx_s_ros_pkg

Pre-requirement

About TRX-S

SEED Solutions HP
Manuals, etc.

Basic Configuration

How to use

Basic usage

bringup the controller node and Rviz

roslaunch trx_s_ros_pkg bringup.launch

grasp

rosservice call /hand_controller grasp

open

rosservice call /hand_controller open

Parameters (written in the bringup.launch)

serial_port (default = "ttyACM0")

It depends on the your communication module.
In case of CM4U (TRX-S Academic Package), it's ttyACM*
In case of CMSU, it's ttyUSB*

can_id (default = 1)

If you change the CAN ID by the SEED-Editor, you should change this parameter to same one.

controller_rate(default = 20 )

This parameter is the interval of getting current position.

Other

• Add user to dialout
  sudo gpasswd -a <user-name> dialout