ROS Index
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 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| barrett_hand_control | 0.1.0 |
| barrett_hand_gazebo | 0.1.0 |
| barrett_hand_sim | 0.1.0 |
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
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 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| barrett_hand_control | 0.1.2 |
| barrett_hand_gazebo | 0.1.2 |
| barrett_hand_sim | 0.1.2 |
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