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
Released RELEASED

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

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

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