https://github.com/robotnikautomation/barrett_hand_sim

Barrett hand simulation package for ROS
https://github.com/robotnikautomation/barrett_hand_sim

Last synced: about 1 year ago
JSON representation

Barrett hand simulation package for ROS

• Host: GitHub
• URL: https://github.com/robotnikautomation/barrett_hand_sim
• Owner: RobotnikAutomation
• License: bsd-3-clause
• Created: 2015-06-03T07:10:09.000Z (about 11 years ago)
• Default Branch: indigo-devel
• Last Pushed: 2016-08-10T09:41:38.000Z (almost 10 years ago)
• Last Synced: 2023-03-12T05:18:24.795Z (over 3 years ago)
• Language: C++
• Size: 12.7 KB
• Stars: 7
• Watchers: 8
• Forks: 7
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

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