This package is the official ROS 2 software stack for Wonik Robotics' Allegro Hand. It is designed based on the ros2_control framework to provide real-time control and seamless integration with the ROS 2 ecosystem.
This software stack supports the following models:
Key features include:
- Real-time hardware interface through
ros2_control. - Controllers for various control modes such as position, posture, and grasping.
- Easy-to-use launch files for single and dual hand configurations.
- Visualization via RViz and easy testing with RQT plugins.