barrett bh8-282 ros gazebo 仿真

git上下载

git clone https://github.com/RobotnikAutomation/barrett_hand_sim

编译后，你会发现报错“robot_description”没找到

在src 下

git clone  https://github.com/RobotnikAutomation/barrett_hand_common.git

catkin_make
. devel/setup.bash

运行仿真

 roslaunch barrett_hand_gazebo barrett_hand.launch

话题列表

/bh_j11_position_controller/command
/bh_j12_position_controller/command
/bh_j22_position_controller/command
/bh_j32_position_controller/command
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/rosout
/rosout_agg
/tf
/tf_static

怎么发命令呢？
Publish topics to control the hand:

rostopic pub /bh_j11_position_controller/command std_msgs/Float64 ‘desired_angle’
rostopic pub /bh_j11_position_controller/command std_msgs/Float64 ‘0.5’
rostopic pub /bh_j12_position_controller/command std_msgs/Float64 “data: 1.2”

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

这个包有问题，spread运动时，只有F1滑动，F2没动

下面也是一个仿真包

https://github.com/kuri-kustar/barrett_hand.git

编译后，你估计会出错，请移除里面hardware部分，重新编译

roslaunch barrett_hand_config demo.launch
在下方的motionplaning 第二个标签页中点击执行。
包含了对该手的运动规划（很好的材料，我居然消化不了）