Allegro_Digit

Allegro Digit ROS Package

This is from the official allegro hand ros package [1]. Check out the manipulation branch for code of stick manipulation.

[1] https://github.com/simlabrobotics/allegro_hand_ros_v4

It simplifies the launch file structure, seperating the low level PD controller and the control logic by introducing a DesiredJointStatePub node that implements the high level control. It is also made to be compatiable with ROS noetic.

It also requires the BHand library installed [2].

[2] http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/BHand_library_API

Launch file instructions:

There is now a single file, allegro_hand.launch that starts the hand.

Note on AUTO_CAN: There is a nice script detect_pcan.py which automatically finds an open /dev/pcanusb file. If instead you specify the can device manually (CAN_DEVICE:=/dev/pcanusbN), make sure you also specify AUTO_CAN:=false.

Packages

• allegro_hand Low level PD control and high level DesiredJointStatePub.

• packages from the official ROS repo [1].

Installing the PCAN driver

Before using the hand, you must install the pcan drivers. This assumes you have a peak-systems pcan to usb adapter.

1. Install these packages

   sudo apt-get install libpopt-dev ros-noetic-libpcan

2. Download latest drivers: http://www.peak-system.com/fileadmin/media/linux/index.htm#download

Install the drivers:

make clean; make NET=NO_NETDEV_SUPPORT
sudo make install
sudo /sbin/modprobe pcan (if errors are showing, make sure secure boot is disabled)

Test that the interface is installed properly with:

 cat /proc/pcan

You should see some stuff streaming.

When the hand is connected, you should see pcanusb0 or pcanusb1 in the list of available interfaces:

ls -l /dev/pcan*

Build the sources:

catkin_make    
source devel/setup.bash

quick start:

roslaunch allegro_hand allegro_hand.launch