git上下载
git clone https://github.com/RobotnikAutomation/barrett_hand_sim
编译后，你会发现报错“robot_description”没找到
在src 下
git clone https://github.com/RobotnikAutomation/barrett_hand_common.git
catkin_make
. devel/setup.bash
运行仿真
roslaunch barrett_hand_gazebo barrett_hand.launch
话题列表
/bh_j11_position_controller/command
/bh_j12_position_controller/command
/bh_j22_position_controller/command
/bh_j32_position_controller/command
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/rosout
/rosout_agg
/tf
/tf_static
怎么发命令呢？
Publish topics to control the hand:
rostopic pub /bh_j11_position_controller/command std_msgs/Float64 ‘desired_angle’
rostopic pub /bh_j11_position_controller/command std_msgs/Float64 ‘0.5’
rostopic pub /bh_j12_position_controller/command std_msgs/Float64 “data: 1.2”
Controller list:
bh_j11_position_controller -> spread DoF
bh_j12_position_controller -> finger 1 grasp
bh_j22_position_controller -> finger 2 grasp
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bh_j32_position_controller -> finger 3 grasp
这个包有问题，spread运动时，只有F1滑动，F2没动
下面也是一个仿真包
https://github.com/kuri-kustar/barrett_hand.git
编译后，你估计会出错，请移除里面hardware部分，重新编译
roslaunch barrett_hand_config demo.launch
在下方的motionplaning 第二个标签页中点击执行。
包含了对该手的运动规划（很好的材料，我居然消化不了）