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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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Fix/visualize both sensegloves in RVIZ #8

Closed RPKrijnen closed 2 years ago

RPKrijnen commented 2 years ago

This pull request aims to visualize both sensegloves in RVIZ. This is accomplished by using seperate controllers and configs and by "unshadowing" the names of the joints in the urdf/xacro files. These shadowing names lead to the TF tree spacing out between left and right hand sensor values. These fixes impact the use of the senseglove_demo.launch and senseglove_hardware_demo.launch files. the left and right args for the later file are still set to default at false, but the former file defaults to true for the new use_left and use_right args (due to the assumption that the user wants to demo both gloves more often than single gloves).

Differentiating between left and right is still done ambiguously using r, l /lh, /rh, right or right, left or left. This may be changed in later commits however.

Another change was an offset to the position in the worldframe of the urdf/xacro files. This allows the user to easily differentiate between the two gloves in RVIZ. When an end-user wants to make use of the Vive puck locations as the origin for these glove positions however, this offset needs to be considered.

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Special thanks to @LeeTaekLim for implementing a fix to this issue on his own repo: https://github.com/LeeTaekLim/senseglove_ros_ws/tree/visualize This pull request was based on their code and improves upon it by being able to visualize both gloves.

RPKrijnen commented 2 years ago

@LeeTaekLim @tqmthong

robinkrens commented 2 years ago

I don't have a way to test this on my machine currently. I'm fine with you pulling this into master though. Can you git tag one of the previous commits, as let's say a v1.0,? People can checkout that specific commit easily (in case they don't want to use the bleeding edge master)

MaxLammers commented 2 years ago

I'm fine with pulling into master as well, and agree with Robin to tag the current release (before merging) as 1.0.

RPKrijnen commented 2 years ago

I will tag it here in the comment section as well as on the README. The relevant commit