This repository and README is heavily based on Felix Duvallet's Allegro ROS repository (https://github.com/felixduvallet/allegro-hand-ros), with modification for the in-hand object rotation repository.
Download the peak linux driver and unzip it. In the driver folder, execute the following command:
# in peak-linux-driver
make clean
make NET=NO_NETDEV_SUPPORT
sudo make install
sudo /sbin/modprobe pcan
After this above installation, you should be able to see /dev/pcanusb* in your machine.
cd ${CATKIN_WS}/src/
git clone https://github.com/HaozhiQi/ros-allegro.git
cd ../
catkin_make -j1
catkin_make install
source ./devel/setup.zsh # or other shell name
Can use rostopic list to monitor the ROS topics.
Try a communication with hand
# need to change /dev/pcanusbfd32 to your usb name
roslaunch allegro_hand allegro_hand.launch HAND:=right AUTO_CAN:=false CAN_DEVICE:=/dev/pcanusbfd32 KEYBOARD:=false CONTROLLER:=pd
Make sure rostopic list will display something like:
/allegroHand_0/envelop_torque
/allegroHand_0/joint_cmd
/allegroHand_0/joint_states
/allegroHand_0/lib_cmd