ROHAND URDF PACKAGE FOR ROS2
rohand urdf package
1.Clone
cd ~
mkdir -p ros2_ws/src
cd ros2_ws/src
git clone ssh://git@github.com/oymotion/rohand_lites_urdf_ros2
2.Compile
colcon build
source install/setup.bash
4.Node rohand_urdf
| Topic | Description |
|---|---|
| "if_slider_joint" | slider for index finger, control index finger by changing it's position |
| "mf_slider_joint" | slider for middle finger, control middle finger by changing it's position |
| "rf_slider_joint" | slider for ring finger, control ring finger by changing it's position |
| "lf_slider_joint" | slider for little finger, control little finger by changing it's position |
| "th_slider_joint" | slider for thumb, control thumb by changing it's position |
| "th_root_joint" | slider for thumb root, control thumb root by changing it's position |
5.RUN
Launch 'launch.py' file: Left hand：
ros2 launch rohand_lites_urdf_ros2 left_rviz2.launch.py
Right hand：
ros2 launch rohand_lites_urdf_ros2 right_rviz2.launch.py