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ROS package to control the Barrett Hand. This package is based on the pyHand library for Linux. This package allows the control of the hand either in velocity or position, and reading the current state of the joints and available sensors. This package is compatible with the models BH8-280 and BH8-282.

For a more technical description, please visit: Barret Hand



This package depends on the library pcan_python, which is a python wrapper of the C library peak-can. To download and install this library, please visit: pcan_python and follow the installation instructions.

Downloading the package

You can download the package from the git repository or install it directly from the apt-get repository:

$ sudo apt-get install ros-distro-barrett-hand

Getting started

Launching controller

$ roslaunch bhand_controller bhand_controller.launch

More info about the controller on bhand_controller.

Initializing the hand

*CAUTION: The hand will move to its zero position

Once the controller is running, it is necessary to send the command to initialize the hand. The hand will remain on INIT_STATE until calling the service to INIT the hand.

$ rosservice call /bhand_node/actions "action: 1"

Available actions in file msg/Service.msg.


It is possible to visualize the current position and state of the hand in Rviz or running the rqt_bhand plugin.


BHand Rviz

1. Loading Barrett Hand description:

$ roslaunch bhand_description bh_description.launch

2. Running robot_state_publisher node.

$ rosrun robot_state_publisher robot_state_publisher

3. Running rviz.

$ rosrun rviz rviz 

RQT Plugin

$ rosrun rqt_bhand rqt_bhand

BHand Rviz

More info on rqt_bhand

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

2024-07-20 12:40