ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
On the PR2, we have the fingertip sensors connected by an SPI interface to our custom gripper control board, which communicates with the rest of the robot over EtherCAT. This may be overly complicated for your setup.
If you sensors have an SPI interface, you probably want to find or build an SPI to computer interface; an Arduino and rosserial is probably a good place to start.