ROS Index
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro lyrical showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState
Directory Structure
Package Files
``` ih2_azzurra_hand_driver_interfaces │ ├── msg │ └── HandState.msg │ ├── action File truncated at 100 lines [see the full file](https://github.com/af-a/ih2_azzurra_hand_driver_interfaces/tree/main/README.md)CONTRIBUTING
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Repository Summary
| Checkout URI | https://github.com/af-a/ih2_azzurra_hand_driver_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-05-04 |
| Dev Status | MAINTAINED |
| Released | UNRELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| ih2_azzurra_hand_driver_interfaces | 0.1.0 |
README
A ROS2 package that contains custom interfaces that are utilized in the [ih2_azzurra_hand_driver](https://github.com/af-a/ih2_azzurra_hand_driver) package.
Designed for and tested on Ubuntu 22.04 LTS, ROS (2) Humble with Python 3.10.
[](https://www.python.org/downloads/release/python-3100/)
[](https://opensource.org/licenses/MIT)
Author: [Ahmed Abdelrahman](https://github.com/af-a)
Contents
Overview
ih2_azzurra_hand_driver_interfaces contains the following custom messages:
-
HandState.msg: comprehensive information on current IH2 Azzurra hand state, including:- motor positions: degrees of flexion/extension of each DoA, expressed as an integer in the range [0, 255]
- motor names: names of each DoA
- motor current: motor currents of each DoA
- motor states: whether each motor is in motion or stationary
It also exposes the following ROS action interfaces:
-
MoveHand.action: receives desired finger position values in the requestdesired_motor_positionfield. Returns the final hand state. -
MoveHandToNamedPose.action: receives a desired, known, named pose in the requestdesired_named_posefield. Returns whether the action was successfull and the final hand state.
Message Specifications
HandState:
std_msgs/Header header
string named_pose
string[] motor_name
uint8[] motor_position
float32[] motor_current
bool[] motor_moving
Action Specifications
MoveHand:
# Request
uint8[] desired_motor_position
---
# Result
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
MoveHandToNamedPose:
# Request
uint8[] desired_named_pose
---
# Result
bool success
ih2_azzurra_hand_driver_interfaces/HandState final_state
---
Installation
From Source
After cloning this repository into your workspace, build using:
colcon build --packages-select ih2_azzurra_hand_driver_interfaces
Usage
Simply import any of the desired messages as follows:
from ih2_azzurra_hand_driver_interfaces.msg import HandState