Operation Guide

This guide explains how to operate the ROBOTIS Hand.

Prerequisites

Before running the ROBOTIS Hand, make sure:

• The ROBOTIS Hand is properly set up and powered on
• The ROBOTIS Hand is connected to /dev/ttyUSB0

Running the ROBOTIS Hand

The ROBOTIS Hand controller has been constructed to utilize the ros2_control framework for enhanced flexibility, modularity, and usability. This updated controller allows for seamless integration with ROS 2-based systems, offering advanced features such as trajectory planning, real-time control, and state feedback.

After accessing the Robotis Hand Docker container, use the following command:

# For the left hand
ros2 launch robotis_hand_bringup hx5_d20_left.launch.py

# For the right hand
ros2 launch robotis_hand_bringup hx5_d20_right.launch.py

Check Hand Orientation: You must use the launch file that matches your specific hardware (hx5_d20_left or hx5_d20_right). If the software configuration does not match the physical hand, the system will not work.

Once the command is executed, the system will perform the following steps:

1. Initial Positioning: The ROBOTIS Hand moves to its initial position
2. Topic Subscription: The node begins subscribing to the input topic

The ROBOTIS Hand controller will now subscribe to the input topic described in the Software Specifications.

(Optional) For visualization, add the option start_rviz:=true at the end of the command:

# For the left hand
ros2 launch robotis_hand_bringup hx5_d20_left.launch.py start_rviz:=true

# For the right hand
ros2 launch robotis_hand_bringup hx5_d20_right.launch.py start_rviz:=true