Package Summary
skin_config
- Author: Joerg Wagner
- License: BSD
- Repository: bosch-ros-pkg
- Source: svn http://svn.code.sf.net/p/bosch-ros-pkg/code/tags/stacks/bosch_skin/bosch_skin-0.3.0
The Skin Configuration Interface
The skin_config node starts the Skin Configuration Interface as displayed below.
It communicates with the skin_serv Service of the skin_driver node and can be used to reconfigure the following settings of the skin driver:
Number of sensor elements: Enter the number of connected sensor elements and press set to save.
Static Threshold: Enter the static threshold. Default: 10. (relevant only for "Go"/"NoGo" detection). If a new threshold is entered also enter range of sensor ids to which the new threshold should be applied to.
Dynamic Threshold: Enter the dynamic threshold. Default: 64. (relevant only for "Go"/"NoGo" detection).
The two command buttons on the bottom of the window have the following functionality:
Ram to Flash: Save the config to the Ram of the Skin's hardware interface. This config will be loaded when the skin is reset at power up.
Init Skin: Initialize skin and set "Ini" values to current "X" values. This is needed to calibrate the skin.
Nodes
skin_config_interface
The skin_config_interface node provides a graphical user interface to configure the Bosch skin. It communicates with the skin_driver node via the skin_serv service.Subscribed Topics
skin_driver/skin_data (skin_driver/skin_meas)- Raw skin measurement with configuration data
Services
skin_driver/skin_serv (skin_driver/skin_serv)- Service to reconfigure skin
