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