ROS WAM + Barrett Hand tutorial

After you've succeded with the ROS_WAM_Tutorial you can use the Barrett Hand in a similar way.

log in to the Wam internal PC through ssh

 ssh robot@wam1

power of the serial in case you haven't (You can power it twice, don't worry)

 sudo parashell 0x378 5

go to

 cd btclient/src/BHinterfacelib/socketwamif/

and launch the server

 sudo ./bhserver

Now, on your computer you just have to launch the hand node

 rosrun iri_bhand iri_bhand

which publishes the service /bhand_driver_node/bhand_cmd, that can be called from command line with Barrett's Grasping commands

 rosservice call /estirabot/bhand/bhand_cmd "{bhandcmd: HI}"

or from a client node Create a simple server and client (you can also add a client from an existant node)