View sensor streams

This tutorial assumes that you have completed the software installation tutorial, and have a compiled sandia_hand_driver package accessible in your ROS_PACKAGE_PATH. Furthermore, it assumes you can start the ROS driver for a single hand, as described in the single-hand driver bringup tutorial.

Once the hand driver is up, a variety of ROS topics are now available. For example, you can stream the palm tactile array to the console:

rostopic echo palm/raw_state

Or stream the state of the "motherboard" in the bottom of the hand, which performs power switching and i/o multiplexing to/from the finger sockets, palm tactile array, and cameras:

rostopic echo mobo/raw_state

You can use the ROS image viewer to look at the image stream from one of the cameras:

rosrun image_view image_view image:=left/image_raw _autosize:=true

Alternatively, a roslaunch file is provided to start a viewer for each camera:

roslaunch sandia_hand_driver view_both_cams.launch

(note that in many things in ROS, copious use of the [tab] key on the keyboard can do lots of auto-complete for you when typing shell commands)