Compiling

Start by getting the dependencies and compiling the interface.

$ rosdep install sr_hand
$ rosmake sr_hand

Starting the interface

Starting the hand

To start the hand ROS interface, just run:

$ roslaunch sr_hand srh_motor.launch

or, if you're more interested by the muscle hand:

$ roslaunch sr_hand srh_muscle.launch

Starting the hand and arm

To start the Hand and Arm ROS interface, just run:

$ roslaunch sr_hand sr_arm_motor.launch

or if you want to use an arm and our muscle hand:

$ roslaunch sr_hand sr_arm_muscle.launch

Visualizing the data

To visualize the data using rviz, just run (replace motor by muscle if using the muscle hand):

$ roslaunch sr_hand rviz_motor.launch

To get the correct topics and parameters in rviz, just go to File->Open Config and use this config file.

Running a different model of the hand

There are different models of the hand available (one finger unit, etc...). To use the single finger, just prepend ONE_FINGER=1 to the previous roslaunch commands:

$ ONE_FINGER=1 roslaunch sr_hand srh_motor.launch
$ ONE_FINGER=1 roslaunch sr_hand rviz_motor.launch

To use the left hand model pre-pend LEFT_HAND=1 to the roslaunch:

$ LEFT_HAND=1 roslaunch sr_hand srh_motor.launch
$ LEFT_HAND=1 roslaunch sr_hand srh_muscle.launch
$ LEFT_HAND=1 roslaunch sr_hand sr_arm_motor.launch
$ LEFT_HAND=1 roslaunch sr_hand sr_arm_muscle.launch

NB: This should be configured by default on your system if you get it from us.