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Description

The asr_cyberglove_visualization package is used to test and visualize the functionalities of the asr_cyberglove_lib and asr_flock_of_birds packages. It uses an URDF model of a human hand to provide a visualization of the movement data from the gloves and the magnet tracking system (Flock of Birds) in RViz.

Usage

Needed packages

This package depends on the following packages:

• asr_msgs (mandatory)

• asr_cyberglove_lib (optional)

• asr_flock_of_birds (optional)

Needed hardware

To use im combination with asr_cyberglove_lib and asr_flock_of_birds the following hardware components are needed:

• Cybergloves

• Ascension Technology Corp magnet tracking system "Flock of Birds"

Start system

Starting the servers

The main function of the package is to visualize the data received from the hardware sensors of the Cybergloves and/or "Flock of Birds". Therefore, the nodes of the corresponding packages asr_cyberglove_lib and/or asr_flock_of_birds should be started first. To start the servers directly from the PC to which the hardware is connected, use:

roslaunch asr_cyberglove_lib glove_lib.launch

roslaunch asr_flock_of_birds flock_of_birds.launch

Alternatively, the servers can also be started from remote if the hardware is connected to another Lab-PC:

rosrun asr_cyberglove_lib glove_lib_remote.sh

rosrun asr_flock_of_birds flock_of_birds_remote.sh

Starting the visualization

After the asr_cyberglove_lib and/or the asr_flock_of_birds server(s) is/are started, the visualization in RViz can be launched with the help of .launch-files:

• demo_fob.launch: This file is used to test the right tracker of asr_flock_of_birds. It loads the model of the right hand, which is then transformed accordingly to the movements of the tracker received from the asr_flock_of_birds server (the asr_cyberglove_lib server does not need to be started)

• demo_glove.launch: This file is used to test the sensors of the right Cyberglove. It loads the model of the right human, whose joints are then transformed accordingly to sensor data received from the asr_cyberglove_lib server (the asr_flock_of_birds server does not need to be started)

• demo_glove_fob.launch: This file is used to test the sensors of the right Cyberglove in cooperation with the right tracker of asr_flock_of_birds. It loads the model of the right hand, which is then transformed accordingly to data received from the asr_cyberglove_lib and asr_flock_of_birds servers.

• demo_slider.launch: This file is used to display the model of the right hand in RViz along with a slider to move the joints. The asr_cyberglove_lib and asr_flock_of_birds servers are not needed for this.

• demo_slider_left.launch: Analogous to the demo_slider.launch file, except that the model of the left hand is displayed in RViz.

Configuring RViz

RViz has to be configured to show/add the RobotModel. The RViz configuration files located in /asr_cyberglove_visualization/rviz can be used when launching to provide an ideal view of the model and its movements in RViz. They are included in the launch files.

ROS Nodes

Subscribed Topics

The sensor data of the Cybergloves is received as asr_msgs::AsrGlove messages published by the asr_cyberglove_lib server. The topics to listen to are:

• /rightGloveData_radian

• /leftGloveData_radian

The pose data of the Flock of Birds trackers is received as asr_msgs::AsrObject messages published by the asr_flock_of_birds server. The topic to listen to is:

• /fob_objects

Published Topics

The current Cyberglove state data is published to the model as sensor_msgs::JointState messages. They are published to the following topic:

• /joint_states

The Flock of Birds data is published using a tf::TransformBroadcaster.