~shadowrobot/sr-ethercat-user-manual/trunk : revision 15

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\section{Overview}

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\label{sec:overview}

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\par This user manual will get you started with using our EtherCAT hand or simulated robots. We'll guide you through installing the code in \link{install}, show you some basic commands and code samples in \link{running-our-code}, and explain where to find things in \link{navigate}. This guide ends with some pointers to essential documentation you should read (\link{where-to-go}), and some troubleshooting tips (\link{what-do-if}). \\

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\par This user manual will get you started with using our EtherCAT hand or simulated robots. We'll guide you through installing the code in \link{install}, explain where to find things in \link{navigate} and show you some basic commands and code samples in \link{running-our-code}. This guide ends with some pointers to essential documentation you should read (\link{where-to-go}), and some troubleshooting tips (\link{what-do-if}). \\

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\par You can find below a kinematics diagram of the Shadow Hand. The joint names are indicated on the diagram. As a convention, and because of the way the Hand is actuated, the joint 1 and 2 for the first finger, middle finger, ring finger and little finger are grouped in the joint 0: \texttt{FFJ0 = FFJ1 + FFJ2}, \texttt{MFJ0 = MFJ1 + MFJ2}, etc.

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\includegraphics[width=\textwidth]{images/Hand_Kin_annotated.png}

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\par If you have any questions, don't hesitate to contact us at: \texttt{software@shadowrobot.com}.\\

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\par We assume you've already installed ROS electric, as detailed on \betterhref{http://www.ros.org/wiki/electric/Installation/Ubuntu}{the ROS Wiki}.\\

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\par However if you plan to modify some parts of our code, you can use an overlay to install some of the sources from our publicly available Launchpad repository on top of your existing installation.

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\par However if you plan to modify some parts of our code, you can use an overlay\footnote{\textbf{Overlay:} use another version of a stack than the default installed one. The path to the package in the overlay will be prepended to the ROS\_PACKAGE\_PATH, so it will be used instead of the default installed version.} to install some of the sources from our publicly available Launchpad repository on top of your existing installation.

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\subsection{From our apt repository (recommended)}

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\label{sec:install-apt}

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\subsection{From sources}

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\label{sec:install-src}

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\par If you need to modify one of the packages for your own use, you'll want to first install the released version from the apt repository as explained in \link{install-apt}. This will ensure that you have all the code you need. Once you've identified in which stack the package you want to modify is, you can create an overlay\footnote{\textbf{Overlay:} use another version of a stack than the default installed one.} to use the source version.\\

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\par If you need to modify one of the packages for your own use, you'll want to first install the released version from the apt repository as explained in \link{install-apt}. This will ensure that you have all the code you need. Once you've identified in which stack the package you want to modify is, you can create an overlay to use the source version.\\

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\par To create an overlay, we'll use the \betterhref{http://ros.org/wiki/rosinstall}{rosinstall} utility. In this example, we'll overlay the \betterhref{http://launchpad.net/sr-config}{sr\_config} stack, using trunk version of the code hosted on launchpad using \betterhref{http://bazaar.canonical.com}{bzr}: \texttt{lp:sr-config}.

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\par As described in \link{spec-system-param}, we're using a file to define some useful environment variables. To make sure the variables are imported in your setup, you need to source it in your \texttt{\linuxtilde/.bashrc}, after sourcing the ros setup.bash. It should look like this:

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\begin{lstlisting}[title={\textbf{\linuxtilde/.bashrc}}, upquote=true]

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#source the ros setup.bash

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/opt/ros/electric/setup.bash

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source /opt/ros/electric/setup.bash

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#or the one created in your workspace

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# if you used an overlay

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#source ~/workspace/setup.bash

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\item \textbf{sr\_contrib:} contains experimental high level packages. If you write some interesting package, we'd be happy to add it to this stack.

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\item \textbf{sr\_visualization:} contains the GUI and visualisation tools.

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\item \textbf{sr\_teleop:} contains drivers for different tools used to teleoperate our hand (\betterhref{http://www.cyberglovesystems.com}{cyberglove}, ...)

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\item \textbf{sr\_config:} contains the config files. If you have one of our Hand, you should have an overlay of this config to make sure you don't loose your config when updating your system (as described in \link{install-src}).

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\item \textbf{sr\_config:} contains the configuration files. If you have one of our Hand, you should have an overlay of this configuration to make sure you don't loose your configuration when updating your system (as described in \link{install-src}).

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\end{itemize}

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\subsection{Important Packages}