yarp-device-xhand

Device to use the Robotera XHand1 with yarp

xhand sdk installation

Download the xhand_control_sdk_x86_64_v146.tar.gz file from ergocub2-design-hand/robotera/xhand1/SDK/C++ and unzip it.

Set the following env variables environment variable to point to the unzipped folder,

export XHAND_SDK_PATH=/path/to/xhand_control_sdk_x86_64_v146
export xhand_control_DIR=$XHAND_SDK_PATH/xhand_control_sdk/share/xhand_control/cmake
export LD_LIBRARY_PATH=$XHAND_SDK_PATH/xhand_control_sdk/lib:$LD_LIBRARY_PATH

yarp-device: build/install and environments configurations

cd /<path to yarp-device-xhand repository>
mkdir build & cd build
cmake .. -DALLOW_DEVICE_PARAM_PARSER_GENERATION=ON -DCMAKE_INSTALL_PREFIX=/<path to yarp-device-xhand install dir>
make install -j4
export PATH=$PATH:/<path to yarp-device-xhand install dir>/bin
export YARP_DATA_DIRS=$YARP_DATA_DIRS:/<path to yarp-device-xhand install dir>/share/yarp
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH>:/<path to yarp-device-xhand install dir>/lib

ethercat configurations

echo "$XHAND_SDK_PATH/xhand_control_sdk/lib" | sudo tee -a /etc/ld.so.conf.d/yarp.conf
echo "/<path to yarp-device-xhand install dir>/lib" | sudo tee -a /etc/ld.so.conf.d/yarp.conf
echo "/<path to robotology-superbuild install dir>/lib" | sudo tee -a /etc/ld.so.conf.d/yarp.conf
sudo ldconfig
sudo setcap 'cap_net_raw,cap_net_admin,cap_sys_nice,cap_ipc_lock+ep' "$(which yarprobotinterface)"

yarpmotorgui

Open the yarprobotinterface using the config file yarprobotinterface.ini

yarprobotinterface --from src/devices/xHandControlBoard/robots-configuration/xhand1/yarprobotinterface.ini

If needed, the yarpmotorgui:

yarpmotorgui --robot robotera --parts "(xhand)"