High Level Interface¶
This package contains libraries that provide a high level interface to easily control the different robots supported by Shadow Robot. They encapsulate the functionality provided by different ROS packages, specially the moveit_commander, enabling their access throughout a more simplified interface.
The following classes can be found in this package
- SrRobotCommander - base class
- SrArmCommander - arm management class
- SrHandCommander - hand management class
In order to access the full functionality of the hand, you can also interface with it directly through the ROS interface.