Control the Versaball for our Omnigrasper robot.

Simply run roslaunch versaball versaball.launch after compiling. You then have threee services at hand:

• /versaball/prepare_grasp: call this to get the versaball ready for grasping
• /versaball/grasp: when called, air is sucked out of the gripper, to grasp an object
• /versaball/release: release it!

In this setup, the Versaball is (slightly) inflated or deflated with two pumps and two electro-valves. These four devices are in turn switched on and off thankts to a USB-controlled rellays board (Phidgets InterfaceKit 0/0/4). We use a basic time-based control scheme for the Versaball.

To change how much the Versaball is inflated or deflated, use dynamic_reconfigure.

Before installing this ROS node, please get phidget_drivers from ros-drivers. The node phidgets_ik from that package must be run before Versaball.