Starting the interface

Starting the hand

There is no longer a dummy hand interface under Fuerte, you should directly run the Gazebo interface:

$ roslaunch sr_hand gazebo_hand.launch

Starting the hand and arm

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

$ roslaunch sr_hand gazebo_arm_and_hand.launch

Visualising the data

You have two options for visualising the model of the hand:

Gazebo

To visualize the data using Gazebo, which allows you to carry out manipulation of simulated objects, run:

$ rosrun gazebo gui

RVIZ

To visualize the data using rviz, which allows you to display other data along side the model, run:

$ rosrun rviz rviz

You can then use this config file to setup your display correctly. If you are using the arm and hand system you will need to change the fixed frame to /world.

Running a different model of the hand

There are different models of the hand available (one finger unit, etc...). To use these you need to edit the env_variables.bashrc file in sr_config/bashrc.

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