ROS 2 URDF and Visualization for DexHand V1
The DexHand is an open-source, dexterous humanoid robot hand that is designed to be manufactured using 3D printing and low-cost electronics. The project homepage can be found at http://www.dexhand.org.
This package provides:
- URDF for the DexHand robot hand
- RVIZ2 configuration for visualizing the hand with support for the ROS 2 Joint State Publisher GUI
- Launch files to make it easy to visualize the DexHand in RVIZ2
Use of this package assumes that you have a functional ROS 2 installation, and are familiar with the procedures for setting up workspaces, building packages, and running the ROS 2 command line tools. If not, there are excellent tutorials available on the ROS 2 distribution pages. We used ROS 2 Humble Hawksbill for developing and testing this package, but it's generic enough that it should run fine with whatever version of ROS 2 you have installed.
Setting up the package is like any other ROS 2 package you would build from source:
-
Clone the GitHub Project into a ROS 2 workspace.
(From the src folder of your workspace - for example: /dexhand_ws/src)
git clone https://github.com/iotdesignshop/dexhand_description.git -
Run colcon to build the package
(From the root of your workspace - for example: /dexhand_ws)
colcon build -
Run rosdep to make sure you have all the dependencies.
(From the root of your workspace - for example: /dexhand_ws)
rosdep install -i --from-path src --rosdistro humble -yNote: If you are using a distribution other than humble, change the parameter accordingly
-
Source the environment for the workspace
(Usually a good idea to do this in a fresh terminal window, and from the root of your workspace)
source install/setup.bash
Once you have the package built, you can use the included ROS 2 launchfile to start RVIZ2 and show the Joint State Publisher GUI:
ros2 launch dexhand_description display.launch.py
This should open the RVIZ2 window and display the hand along with the GUI which you can use to test the motion of all the joints
