barrett_hand_sim repository

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/barrett_hand_sim.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2016-08-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

barrett_hand_sim

Barrett hand simulation package for ROS

Launch the Gazebo simulation:

roslaunch barrett_hand_gazebo barrett_hand.launch

How to switch to available hand models:

Edit file barrett_hand_description/robots/bh_alone.urdf.xacro and change the name of the included file (bh282.urdf.xacro or bh280.urdf.xacro)

Publish topics to control the hand:

rostopic pub /bh_j11_position_controller/command std_msgs/Float64 'desired_angle'

Controller list:

bh_j11_position_controller -> spread DoF

bh_j12_position_controller -> finger 1 grasp

bh_j22_position_controller -> finger 2 grasp

bh_j32_position_controller -> finger 3 grasp

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/RobotnikAutomation/barrett_hand_sim.git
VCS Type git
VCS Version indigo-devel
Last Updated 2015-11-04
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

barrett_hand_sim

Barrett hand simulation package for ROS

Launch the Gazebo simulation:

roslaunch barrett_hand_gazebo barrett_hand.launch

How to switch to available hand models:

Edit file barrett_hand_description/robots/bh_alone.urdf.xacro and change the name of the included file (bh282.urdf.xacro or bh280.urdf.xacro)

Publish topics to control the hand:

rostopic pub /bh_j11_position_controller/command std_msgs/Float64 'desired_angle'

Controller list:

bh_j11_position_controller -> spread DoF

bh_j12_position_controller -> finger 1 grasp

bh_j22_position_controller -> finger 2 grasp

bh_j32_position_controller -> finger 3 grasp

CONTRIBUTING

No CONTRIBUTING.md found.