Allegro Hand

Packages related

• allegro_hand_description: Package that contains the URDF files with the Allegro hand description.
• allegro_hand_controller_configuration: Package that contains the controller configurations for the Allegro hand.
• allegro_hand_simulation: Package that containg the launch files for Gazebo and RViz.

Simulation

Launch RViz visualization:

ros2 launch allegro_hand_simulation show.launch.py

Read /join_state topic:

ros2 topic echo /joint_states

Launch Gazebo simulation:

ros2 launch allegro_hand_simulation gazebo.launch.py

Launch Gazebo with RViz visualization at the same time:

ros2 launch allegro_hand_simulation gazebo.launch.py rviz_launch:=true