simlabrobotics / allegro_hand_ros_v4 Goto Github PK

Hello.
I am Yoo, a robot developer, who has run this allegro_hand_ros_v4 on melodic.
After some debugging, I succeeded in running allegrohand v4 on ubuntu 18.04 (melodic).
But I have some problems, so I want to ask.
First, it was successful until catkin_make.

However, an error occurred during the roslaunch running and it did not work.
The cause of the error is the following file: https://github.com/simlabrobotics/allegro_hand_ros_v4/blob/master/src/allegro_hand_description/allegro_hand_description_right.xacro

In conclusion, I solved this by annotating lines 87 through 117 in this file.
This is because an error occurred that the finger and thumb_right of xacro could not be found.
However, the hand connected through pcan-usb succeeded in performing the operation, but there is an error that the finger does not appear on the rviz.

How can I fix this?
Could there be a problem with the real allegro hand in this situation?
I look forward to your advice.

Thanks.

where can I find the example code to control the Allegro hand on python environment?