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Adjuvo / senseglove_ros_ws

Implementation of the standard SenseGlove API into an example ros_workspace. The workspace features a few publishing topics where users can find glove_pose positions, fingertip_positions, glove_angles, etc. Integration with ROS Control for Force Feedback and Vibration.
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Questions regard to glove's data and 3D visualization #3

Closed tqmthong closed 2 years ago

tqmthong commented 3 years ago

Hi sense glove developers, @Deakensbubbles, we're trying to make use of the information that the glove can bring to us in our research by testing the command roslaunch senseglove_launch senseglove_demo.launch.

The first thing we need to know about is a detailed explanation/documentation on the parameters shown when echoing /senseglove/0/rh/joint_states and /senseglove/0/rh/senseglove_states topics, which are shown in these capture: Screenshot from 2021-07-07 09-21-14 Screenshot from 2021-07-07 09-23-15

The second thing to be mentioned is the visualization capability of the hand on rviz. From what we've traced, the senseglove_demo.launch indirectly triggers hardware.launch later and a sequential launchers. Within hardware.launch, we observe the use of urdf files and various 3D virtual images of the glove's components. Screenshot from 2021-07-07 09-32-12 Example of one of the components that we've discovered: Screenshot from 2021-07-07 09-34-58 However, when we try to see them on rviz, it seems not to work at all: Screenshot from 2021-07-07 09-40-43 Hence, we're wondering whether do the team have the intention for creating a 3D visualization of a glove or not and if you do, please provide us with an in-depth guide on setting it up properly.

Regards,

LeeTaekLim commented 3 years ago

https://github.com/LeeTaekLim/senseglove_ros_ws Here's the visualization. Please see "visualize" branch.

RPKrijnen commented 2 years ago

This issue will be resolved in #8. If you'd like you can review the code yourself as well and comment on whether or not changes are necessary or if this PR breaks your own code.