Implement new gripper device: qb SoftHand2 Research

[PeterBowman]

• https://qbrobotics.com/product/qb-softhand-2-research/
• https://qbrobotics.com/download/qb-softhand2-research-downloads/
• https://wiki.ros.org/Robots/qbhand
• https://wiki.ros.org/qb_hand
• https://bitbucket.org/qbrobotics/qbdevice-api-6.x.x/
• https://bitbucket.org/qbrobotics/qbdevice-api-7.x.x/
• https://bitbucket.org/qbrobotics/api-test-sh2r-v7/src/master/
• user manual (PDF)
• quick start guide (qbSoftHand2-Research_quick-start-guide-1.pdf)
• datasheet (PDF)

RS485 protocol characteristics:

• 8 bit
• no parity
• 1 stop bit
• no flow control
• 2M baud rate

Power supply: 24VDC with at least 2.5A (60W) and 3.75A overload.

Control modes:

/**
 * @brief Get the control mode parameter
 *
 * @param[out] control_mode
 * - 0 - Classic position control
 * - 1 - Direct PWM value
 * - 2 - Current control
 * - 3 - Position and current control
 * - 4 - Deflection control (only for qbmoves)
 * - 5 - Deflection and current control (only for qbmoves)
 * @return 0 on success, -1 on error 
 */
virtual int getParamControlMode(uint8_t &control_mode);

[PeterBowman]

YARP 3.9 has introduced a new IJointCoupling interface. Perhaps not so useful here than on the Dextra hand (ping @jgvictores), but it's interesting anyway.

[jgvictores]

YARP 3.9 has introduced a new IJointCoupling interface. Perhaps not so useful here than on the Dextra hand (ping @jgvictores), but it's interesting anyway.

If I'm understanding the objective correctly, it's mostly useful for simulation. https://github.com/roboticslab-uc3m/tools/tree/d7f4442d7a9289870ca7dc253fd4c914f435de86/libraries/YarpPlugins/RealToSimControlBoard which is generic could probably benefit from it.

[PeterBowman]

Introducing ControlBoardCouplingHandler (implements IJointCoupling): robotology/yarp#3085.