https://github.com/haozhiqi/ros-allegro

ros interface to control allegro hand
https://github.com/haozhiqi/ros-allegro

allegro-hand robotics ros

Last synced: about 1 month ago
JSON representation

ros interface to control allegro hand

• Host: GitHub
• URL: https://github.com/haozhiqi/ros-allegro
• Owner: HaozhiQi
• Created: 2022-10-11T04:47:12.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2023-10-28T06:24:18.000Z (about 1 year ago)
• Last Synced: 2024-10-15T09:36:28.333Z (3 months ago)
• Topics: allegro-hand, robotics, ros
• Language: C++
• Homepage:
• Size: 1.34 MB
• Stars: 4
• Watchers: 1
• Forks: 4
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

        
# Deployment of Allegro Hand

## Disclaimer

This repository and README is heavily based on Felix Duvallet's Allegro ROS repository (https://github.com/felixduvallet/allegro-hand-ros), with modification for the [in-hand object rotation](https://github.com/HaozhiQi/hora) repository.

## Installation

### PCAN

Download the [peak linux driver](http://www.peak-system.com/fileadmin/media/linux/index.htm#download) and unzip it. In the driver folder, execute the following command:

```

# in peak-linux-driver

make clean

make NET=NO_NETDEV_SUPPORT

sudo make install

sudo /sbin/modprobe pcan

```

After this above installation, you should be able to see `/dev/pcanusb*` in your machine.

### Install this repository

```

cd ${CATKIN_WS}/src/

git clone https://github.com/HaozhiQi/ros-allegro.git

cd ../

catkin_make -j1

catkin_make install

source ./devel/setup.zsh # or other shell name

```

### Instructions

Can use `rostopic list` to monitor the ROS topics.

Try a communication with hand

```

# need to change /dev/pcanusbfd32 to your usb name

roslaunch allegro_hand allegro_hand.launch HAND:=right AUTO_CAN:=false CAN_DEVICE:=/dev/pcanusbfd32 KEYBOARD:=false CONTROLLER:=pd

```

Make sure `rostopic list` will display something like:

```shell

/allegroHand_0/envelop_torque

/allegroHand_0/joint_cmd

/allegroHand_0/joint_states

/allegroHand_0/lib_cmd

```