Hi,

Regarding the Cybergrasp, I hacked a ROS interface which I didn't release (more of a proof of concept than a clean implementation). This ROS interface communicates between the linux computer running ROS and the FCU (big rack computer where the cybergrasp is plugged in?), while the Cyberglove is connected directly to the linux computer running ROS. I'll send you the links to the interface by private email right away.

By the sr_remappers package is just a package containing remappers from the cyberglove to the Shadow Hand, or from the Shadow Hand to the Cybergrasp node.

Cheers,

Ugo

On Tue, Apr 12, 2011 at 8:07 AM, Jiyoung Kim <lutgardis.kim@gmail.com> wrote:

Hello, all.


It appears that ROS I/F for Cyberglove is available. (http://www.ros.org/wiki/cyberglove) 

This I/F will be very helpful for those who use Linux system to integrate the CyberGlove series.

I am wondering if ROS also supports for I/F for CyberGrasp system. 

CyberGrasp system consists of CyberGlove, exoskeleton module, and Force Controller Unit(FCU). 

The FCU communicates with external user PC through ethernet. 

This is somewhat different from CyberGlove which uses serial port or USB.


CyberGrasp is mentioned in Ros Wiki page (http://www.ros.org/wiki/sr_remappers).

However, it is not clear that I can make the system to work with ROS without VirutalHand SDK which only support for Windows XP.

In addition, I am wondering whether "sr_remappers package" considers the connection between FCU and Linux user PC 

or direct connection to user PC with cyberglove and cybergrasp acuators.


Hope you can give me some hints.


Best regards,

Jiyoung
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Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
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