¶ Wessling Hands - Simulation
¶ Install wessling_hand_driver
mkdir -p ~/wsr2/src
cd ~/wsr2/src
git clone https://gitlab.com/open-wessling-drivers/wessling_hand_driver.git
Note: In case you have write permission to this repository use the following command for cloning instead of the previous one:
git clone git@gitlab.com:open-wessling-drivers/wessling_hand_driver.git
¶ Compile wessling_hand_driver
- Open a console in your ros2 machine
- Source your ros2 environment:
source ros2_setup.sh
cd ~/wsr2
colcon build
¶ (Optional) Create urdf files with xacro
- Open a console in your ros2 machine
- Source your ros2 environment:
source ros2_setup.sh
colcon_cd wessling_hand_urdf
xacro urdfs/hand_right.xacro > urdfs/hand_right.urdf
xacro urdfs/hand_left.xacro > urdfs/hand_left.urdf
cd ~/wsr2
colcon build
¶ (Optional) Running/testing wessling_hand_sim
-
Open a console in your ros2 machine
-
Source your ros2 environment:
source ros2_setup.sh -
Run the simulation code, the joint_state publisher, the robot state publisher and the robot description publisher for the hand:
ros2 launch wessling_hand_sim wessling_hand_sim_test.launch.py -
In another console open Rviz2:
source ros2_setup.sh
ros2 run rviz2 rviz2
- Press the "Add" button on the lower left corner.
- Select "RobotModel" and "Ok"
- On the "Displays" section of Rviz2:
- In global options -> Fixed Frame, select robot-base
- In RobotModel -> Description Topic, select /robot_description
The hands should appear!
- In another console, run the "send_ext_torque.py" example file:
source ros2_setup.sh
colcon_cd wessling_hand_sim
cd wessling_hand_sim
./send_ext_torques.py --ros-args -r /send_ext_torques/ext_torques:=/wessling_hand_sim/ext_torques
- At this moment you should see the hand moving itself between different positions