mia_hand_description
rel 1.0.0
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The following run instruction was tested in ROS noetic to display mia hand in rviz without showing the coupling between the index flexion and the thumb opposition joint:
roslaunch mia_hand_description view_mia_hand_rviz.launch
The following run instruction was tested in ROS noetic to display mia hand in rviz showing the coupling between the index flexion and the thumb opposition joint:
roslaunch mia_hand_description view_mia_hand_rviz.launch remap_MIA_th_opp:=True
Other inputs arguments of the launch file are:
Rviz_on: default="true" doc="True to start Rviz and the joint state gui". use_joint_gui: default="true" doc="Enable the joint_state_publisher use a GUI for controlling joint states". UR_Flange: default = "false" doc="True to visualize the UR flange with the Mia Hand". remap_MIA_th_opp: default="false" doc="True to remap the thumb opp joint position following the index fle position. hw_interface_thumb_fle: default="PositionJointInterface" doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the index flexion joint. hw_interface_index_fle: default="PositionJointInterface" doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the thumb flexion joint. hw_interface_mrl_fle: default="PositionJointInterface" doc="Type of hardware intereface to load in the mia_hand_gazebo.urdf.xacro file for the mrl flexion joint. robotNamespace: default="mia_hand" doc="Name space of the robot and its releated topics"