Task #214
Updated by Sanghoon Lee about 2 months ago
Add the Allegrohand model (left and right) to sim_xela_server so that sim_xela_server can simulate the taxcel data for the Allegrohand model.
The two target models to be added to sim_xela_server are:
- XR23AHLCPP (Allegro hand v4 left)
- XR23AHRCPP (Allegro hand v4 right)
Pre-prepared profiles and captured default data for the Allegrohand model are used, which can be selected as parameters at startup.
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h1. sim_xela_server
WebSocket replayer server for Xela taxel JSON data. This package provides a
standalone WebSocket *server* that streams JSON messages to connected clients
(e.g., @xela_server2_ah@, @xela_server2_2f@) and supports concurrent multi-client broadcast.
h2. Build
<pre><code>
source /opt/ros/humble/setup.bash
cd /home/invokelee/xela_robotics/02_dev_ws
colcon build --packages-select sim_xela_server
</code></pre>
h2. Run
<pre><code>
source /opt/ros/humble/setup.bash
source /home/invokelee/xela_robotics/02_dev_ws/install/setup.bash
ros2 run sim_xela_server sim_xela_server_node --ros-args \
-p model_name:=XR23AHLCPP \
-p bind_port:=5000 \
-p integer_z_range:=4000.0 \
-p calib_z_range:=6.0 \
-p z_bias_power:=2.0
</code></pre>
h2. Launch
<pre><code>
source /opt/ros/humble/setup.bash
source /home/invokelee/xela_robotics/02_dev_ws/install/setup.bash
ros2 launch sim_xela_server sim_xela_server.launch.py \
model_name:=XR23AHLCPP \
integer_z_range:=4000.0 calib_z_range:=6.0 z_bias_power:=2.0
</code></pre>
h2. Notes
* Reference JSON files live under @resource/@ in this package.
* Presets are in @config/replayer_presets.yaml@.
* Multiple clients can connect at the same time and receive the same stream.
* Use @integer_z_range@/@calib_z_range@ to reduce simulated Z amplitude.
* @z_bias_power@ (>1.0) makes small Z values more frequent.
* Presets @H@, @M@, @L@ set @z_bias_power@ to 3.0/2.0/1.2.
* FSD: @fsd_sim_xela_server.md@.