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Working with real sensors
Jose Sanchez edited this page Jun 8, 2015
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1 revision
The following instructions describe how to use the slip detector with real sensors. These instructions assume a Schunk SDH-2 hand is being used with Weiss tactile sensors.
- Launch the component:
roslaunch slip_detection slip_detector.launch - Verify that tactile data is being published (example):
rostopic echo /dsa_controller/tactile_data - Subscribe to the result(s) of the component:
rostopic echo /slip_detection/slip_detector/slip
rostopic echo /slip_detection/slip_detector/event_out - Start the components:
rostopic pub /slip_detection/sdh_tactile_adapter/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/intensity_extractor/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/tactile_flow_extractor/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/slip_detector/event_in std_msgs/String "e_start"
rostopic pub /slip_detection/slip_detector/event_in std_msgs/String "e_stop"