Overview

This package contains mainly launch files for the simulated version of the Shadow Robot Dexterous Hand and Arm.

It also contains a (deprecated) compatibility interface for the EtherCAT Hand. For more information you can take a look at this Tutorial.

Getting Started

See this page to get started with the simulated hand and arm.

ROS API

This interface uses some controllers based on the standard pr2 controllers.

Each controller has its own subscriber to a command topic on sh_ffj3_position_controller/command (replace ffj3 by any other joint name - see here for a diagram containing the joint names).

The controllers are publishing their state on sh_ffj3_position_controller/state (replace ffj3 by any other joint name).