Tools for Hardware Testing

Single Finger Test

The robot_fingers package provides a script single_finger_test.py for testing basic functionality of a single Finger. After initialization, it holds all joints at their current position using position control. All available data is shown and constantly updated on the terminal:

Running

Start the application with the following command:

ros2 run robot_fingers single_finger_test

For this application, homing is done without end stops, that is the joints will simply home on the nearest encoder index without offset.

To quit simply press “q”.

Configuration

The robot configuration used in application is found in robot_fingers/config/single_finger_test.yml. Typically the configuration should work well, however, you may need to adjust the CAN ports to match the ports on which the finger is connected.