Introduction
To run this node, you need to have the sr_hand and the cyberglove node running. You can then run:
$ roslaunch sr_remappers remapper_glove.launch
It will remap the calibrated data coming from the cyberglove to the targets of the hand.
This node subscribe to the specified sensor_msgs/joint_states topic, and publishes a remapped vector on the specified sendupdate topic. It simply multiplies the input vector by a mapping matrix which is loaded into the parameter server by the remapper_glove.launch file.
You can find the default mapping matrix in sr_control_gui/param/GloveToHandMappings_generic.
ROS API
Subscribed Topics
{cyberglove_prefix}/calibrated/joint_states: Subscribes to the calibrated data coming from the Cyberglove. {cyberglove_prefix} is defined in the parameters.
Published Topics
{sendupdate_prefix}/sendupdate: Publishes the targets to this topic, where {sendupdate_prefix} is defined in the parameters.
Parameters
cyberglove_prefix: The prefix on which the Cyberglove published data, generally /cyberglove.
sendupdate_prefix: The prefix on which the robot listens for targets, generally /srh
cyberglove_mapping_path: The path to the file containing the mapping matrix.
Internal Mechanics
The current default matrix is not optimal at all. The mapping from the Cyberglove to the Dexterous Hand is not a trivial task. There's some research being done on it, and we developed a mapping process using a simplex algorithm but it's in a very alpha stage and not yet released.