Ignoring Fingers

You can pass command-line parameters to the ROS driver so that it will not attempt to power up and test particular finger(s):

The driver accepts private boolean parameters named use_finger_X where X is {0, 1, 2, 3}, corresponding to {index, middle, pinkie, thumb}. For example, to start the driver for a right hand while not using the middle finger socket:

rosrun sandia_hand_driver sandia_hand_node _ip:=10.66.171.23 _use_finger_1:=false

To start the driver for a left hand and ignore the middle and pinkie finger sockets:

rosrun sandia_hand_driver sandia_hand_node _ip:=10.66.171.22 _use_finger_1:=false _use_finger_2:=false

As for all ROS parameters, the parameter values are "sticky" in the ROS master, so changing this parameter back to default (true) requires explicitly setting it back to true:

rosrun sandia_hand_driver sandia_hand_node _ip:=10.66.171.23 _use_finger_1:=true