Installing the Sandia Hand software

At time of writing, we recommend cloning the OSRF Sandia Hand repository and compiling it locally. The directory suggested below is just a suggestion; feel free to alter as desired.

First, install ROS hydro, following the instructions here.

sudo apt-get install ros-hydro-desktop-full

Next, create a Catkin workspace and clone sandia-hand and osrf-common into it:

mkdir -p ~/sandia-hand-ws/src
cd ~/sandia-hand-ws/src
hg clone https://bitbucket.org/osrf/sandia-hand
hg clone https://bitbucket.org/osrf/osrf-common

If you haven't already sourced the Hydro setup.bash file as part of the hydro install, do it now:

source /opt/ros/hydro/setup.bash

Finally, we can use Catkin to build the workspace:

cd ~/sandia-hand-ws
catkin_make

After the build has completed, source the setup.bash file in the devel directory and then you'll have the right environment set up:

cd ~/sandia-hand-ws
source devel/setup.bash

Then you should be able to use the sandia-hand roslaunch files, which will be used extensively in subsequent tutorials.