allegro_with_ft_sensors

Allegro Hand v4 Linux Control, combined with 6-axis miniature F/T sensors from aidin robotics

Dist: Ubuntu 20.04, ROS Noetic

HW: Allegro Hand V4 (Right), AIDIN ROBOTICS 6-Axis Miniature Sensor

Prerequisites: PCAN

• Follow the instruction from http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_Linux_Project

Error Revision Notes

• Allegro API from simlab utilizes compressed ID -> Can't divide force/torque of FT

Devided by using full ID address (modified CANapi.cpp from original files)

• Now constructing ROS ENV (Publishing joint state, FT / Subscribing desired allegro joint config)