https://github.com/wonikrobotics-git/allegro_hand_linux_v4
Official Code Repository for controlling the Allegro Hand V4 on Linux System
https://github.com/wonikrobotics-git/allegro_hand_linux_v4
allegro-hand cpp python ros1-noetic
Last synced: 12 months ago
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Official Code Repository for controlling the Allegro Hand V4 on Linux System
- Host: GitHub
- URL: https://github.com/wonikrobotics-git/allegro_hand_linux_v4
- Owner: Wonikrobotics-git
- Created: 2025-02-11T04:46:07.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2025-04-01T07:27:38.000Z (about 1 year ago)
- Last Synced: 2025-04-01T07:37:36.603Z (about 1 year ago)
- Topics: allegro-hand, cpp, python, ros1-noetic
- Language: C++
- Homepage:
- Size: 3.37 MB
- Stars: 5
- Watchers: 2
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# allegro_hand_linux_v4
> Official Code Repository for controlling the Allegro Hand V4 on Linux System
This repository is the official release for controlling the **Allegro Hand V4**.
There are [ROS1 API](./ros_source/), [ROS2 API](./ros2_source) and [C++ API](./cpp/) for [Allegro Hand V4](https://www.allegrohand.com/ah-v4-main)
# Setup
This section provides instructions on setting up your PC and installing the PCAN driver to connect the **Allegro Hand V4** to your system.
> [!IMPORTANT]
> Make sure to choose the correct version for your setup. The **Setup Manual** and **Source Code** differ depending on the project you are working on.
| | **C++ API** | **ROS1 API** | **ROS2 API** |
|---|------------|-------------|-------------|
| **System** | Ubuntu 20.04 | Ubuntu 20.04 | Ubuntu 22.04 |
| **Source** | [cpp/](./cpp/) | [ros_source/](./ros_source/) | [ros2_source/](./ros2_source/) |
| **Setup Manual** | 🔵 Type 1 | 🔵 Type 1 | 🟣 Type 2 |
🔵 Type 1
## Project Setup of Type 1
### 1. Install Ubuntu 20.04
- **Download & Create Bootable USB**
- Get the [Ubuntu 20.04 LTS ISO](https://releases.ubuntu.com/focal/).
- Use [Rufus](https://rufus.ie/) (Windows) or [Etcher](https://www.balena.io/etcher/) (macOS/Linux) to create a bootable USB.
- **Install Ubuntu**
- Boot from the USB and follow the installation steps (language, keyboard, disk setup, user info).
- Reboot after installation.
### 2. `libBHand` Installation
- Check your system architecture:
```bash
getconf LONG_BIT
```
This will determine whether you need the 32-bit or 64-bit version.
- Navigate to the `libBHand/libBHand_{32|64}` directory and install `libBHand`:
```bash
cd libBHand/libBHand_{32|64}
sudo make install
sudo ldconfig
```
- If you need to **uninstall** `libBHand`, navigate to the `libBHand_{32|64}` directory and run:
```bash
sudo make uninstall
sudo ldconfig
```
- The library source can also be downloaded from the [Grasping Library for Linux](https://www.allegrohand.com/ah-v4-grasping-library-for-linux).
- Click the button to download.
- Locate `LibBHand_32.zip` or `LibBHand_64.zip` (found in the `/Allegro Hand V4 | File` folder).
- Unzip the source file and install it according to the instructions above.
### 3. Install the PCAN Driver
> Before using the hand, you must install the **PCAN drivers**. These instructions assume you are using a **Peak Systems PCAN-USB adapter**.
- **Install dependencies:**
```bash
sudo apt-get install libpopt-dev ros-noetic-libpcan
```
- **Download the latest drivers:**
[Peak-System Linux Driver](http://www.peak-system.com/fileadmin/media/linux/index.htm#download)
- **Install the drivers:**
```bash
make clean; make NET=NO_NETDEV_SUPPORT
sudo make install
sudo /sbin/modprobe pcan
```
- **Verify installation:**
Run the following command to check if the interface is installed correctly. You should see streaming output.
```bash
cat /proc/pcan
```
- **Check for available interfaces:**
When the hand is connected, you should see `pcanusb0` or `pcanusbN` (`N` can be any number).
```bash
ls -l /dev/pcan*
```
- If no files are listed, try running the following command from the **downloaded PCAN driver folder**. It manually creates the device files if the system has not done so automatically.
```bash
sudo ./driver/pcan_make_devices 2
```
- **(Optional) CAN Communication Tutorial**
- If you are not familiar with PCAN, refer to the [CAN Communication Tutorial](https://www.allegrohand.com/ah-v4-can-communication).
🟣 Type 2
## Project Setup of Type 2
### 1. Install Ubuntu 22.04
- **Download & Create Bootable USB**
- Get the [Ubuntu 22.04 LTS ISO](https://releases.ubuntu.com/jammy/).
- Use [Rufus](https://rufus.ie/) (Windows) or [Etcher](https://www.balena.io/etcher/) (macOS/Linux) to create a bootable USB.
- **Install Ubuntu**
- Boot from the USB and follow the installation steps (language, keyboard, disk setup, user info).
- Reboot after installation.
### 2. `libBHand` Installation
- `BHandLib` is located in `/src/bhand/lib/libBHand.so`.
- By default, the library is compiled for **64-bit** systems. If your system is **32-bit**, replace the `/lib` folder with the appropriate version.
- Library Structure:
```bash
src/
└── bhand/
├── include/bhand/
├── lib/
│ └── libBHand.so # Default (64-bit) used when building the source
├── libBHand_32/lib/
│ └── libBHand.so # Replace with this if using a 32-bit system
└── libBHand_64/lib/
└── libBHand.so # Replace with this if using a 64-bit system
```
### 3. ROS 2 and PCAN Support
- ROS 2 no longer supports **PCAN**. Instead, use `can-utils` for **SocketCAN**:
```bash
sudo apt install can-utils
```
# File Structure
This repository is structured into three main sections:
- `cpp/`: Contains the standalone C++ API for the Allegro Hand V4.
- `ros_source/`: Includes the ROS1 package for controlling the Allegro Hand.
- `ros2_source/`: Includes the ROS2 package for controlling the Allegro Hand.
Each section has its own **README.md** with setup and build instructions.
```
.
├── libBHand
│ ├── libBHand_64
│ └── libBHand_32
├── cpp
│ ├── 📃 README.md # Instructions for building the C++ library
│ └── grasp
├── ros_source
│ ├── 📃 README.md # Instructions for building the ROS1 package
│ └── src
│ ├── allegro_hand_controllers
│ │ ├── launch
│ │ │ ├── allegro_hand.launch
│ │ │ └── allegro_viz.launch
│ │ ├── package.xml
│ │ ├── CMakeLists.txt
│ │ └── src
│ ├── allegro_hand_description
│ ├── allegro_hand_driver
│ ├── allegro_hand_keyboard
│ ├── allegro_hand_parameters
│ ├── allegro_hand_python
│ └── bhand
├── ros2_source
│ ├── 📃 README.md # Instructions for building the ROS2 package
│ └── src
│ ├── allegro_hand_controllers
│ ... (Similar to the `ros_source` structure)
│ └── bhand
└── 📃 README.md # Instructions for setting up the Allegro Hand V4
```
# C++ API
Step-by-step instructions are provided for running the motion demo of the **Allegro Hand V4** using the **C++ API** on **Ubuntu 20.04** (independent of ROS).
For more details, see 📃 [cpp/README.md](./cpp/README.md).
# ROS1 API
The **ROS1 API** allows you to control the **Allegro Hand V4** using **ROS1 Noetic** on **Ubuntu 20.04**.
For more details, see 📃 [ros_source/README.md](./ros_source/README.md).
# ROS2 API
The **ROS2 API** enables control of the **Allegro Hand V4** using **ROS2 Humble** on **Ubuntu 22.04**.
For more details, see 📃 [ros2_source/README.md](./ros2_source/README.md).
# User Manual
- For more information about Allegro Hand V4, see [User Manual 1.1](./asset/Allegro%20Hand%20V4_Users%20Manual_1.1.pdf).
- Note: The wiki page at wiki.wonikrobotics.com/AllegroHandWiki is **no longer available!**
- In the "Using Allegro Hand Sample Program" section, the source code has been replaced with the following GitHub repositories:
- **Linux System:** [allegro_hand_linux_v4](https://github.com/Wonikrobotics-git/allegro_hand_linux_v4)
- **Windows System:** [allegro_hand_windows_v4](https://github.com/Wonikrobotics-git/allegro_hand_windows_v4)
# Discussion & Issues
If you encounter any issues or would like to discuss improvements, you can use the following channels:
- [**GitHub Issues**](https://github.com/Wonikrobotics-git/allegro_hand_linux_v4/issues)
- [**Allegro Hand Forum**](https://allegrohand.com/forum)
# Contribution
We welcome contributions! 🚀
If you'd like to contribute, feel free to submit a **pull request** with a **clear and concise explanation** of its purpose.
### **Special Thanks to Contributors**
We sincerely appreciate the contributions that have helped improve this repository:
- **Interfaces and controllers** by [@felixduvallet](https://github.com/felixduvallet)
- **New torque controller** by [@nisommer](https://github.com/nisommer)
Thank you for your valuable contributions! 🙌