Grasp Project with Senseglove

Demo

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ROS version is noetic

How to launch our package

First, you must build packages in a workspace with senseglove and shadow hand.

Second, move soft_ball model to under the ".gazebo" in your home path.

Thrid, you must change gazebo world_name in gazebo_hand.launch under the sr_hand package.

<arg name="world_name" value="$(find grasp_project)/worlds/our_project.world"/>

Then, launch our project

roslaunch grasp_project our_project.launch

Other terminal

rosrun grasp_project bridge_node

You should do calibration to match your hand with software.

1. Open and spread your hand   -->  Type 1   // do more than 3 times.
2. Make a fist                                  -->  Type 2   // do more than 3 times.
3. Type anything                            -->  Calibration finished.