ihmc_hands_ros2

A ROS 2 package for controlling various robot hands. Includes ROS 2 interfaces for commands and statuses, helpful Java classes, meshes, and URDF descriptions of the hands.

Supported Hands

• PSYONIC Ability Hands
• SAKE Robotics EZGrippers

Using ihmc_hands_ros2 as a Git Submodule

You may add ihmc_hands_ros2 into your ROS 2 workspace as a git submodule as such:

# cd into the ROS 2 workspace source directory
cd <your_ros2_ws>/src

# Clone ihmc_hands_ros2 and set it up as a git submodule
git submodule add https://github.com/ihmcrobotics/ihmc_hands_ros2.git

# Ensure the submodule is initialized as a git repository locally
git submodule init

# The following is not necessary, but may be useful to set
git config --global submodule.recurse true