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Allegro Robot Driver

Allegro Robot Driver

The Allegro Robot Driver package provides a hardware interface for controlling the Allegro Hand with ROS2 Control. It includes both configuration and launch files, as well as a C++ API to facilitate hardware interaction.

ROS Control

The allegro_robot_driver package integrates with ROS2 Control to support the following functionalities:

  • Effort Command: Allows sending torque commands to the Allegro Hand actuators.

  • Position State: Provides feedback on the current joint positions.

  • Velocity State: Provides feedback on the current joint velocities.

Dependencies

  • ros2control: The package is built on ros2control and requires a working ROS2 installation.

  • Allegro API: The driver is based on the Allegro API library. Add this package to your workspace as a source checkout using vcs.

  • allegrohanddescription: Robot description Add this package to your workspace as a source checkout using vcs.

Installation

Follow Colcon instructions for colcon package installation.

For setting up the CAN interface, see the Allegro API documentation.

Example usage

For left hand: ros2 launch allegro_robot_driver allegro_left_control.launch.py

For right hand: ros2 launch allegro_robot_driver allegro_right_control.launch.py