Linux Project
A Guide to C++ & ROS1 on Linux System
Set up
This section provides instructions for setting up the PC environment and installing the PCAN driver required to connect the Allegro Hand V4 to your system.
1. Install Ubuntu 20.04 and ROS1 Noetic
Follow the official ROS Noetic installation guide to set up ROS on Ubuntu 20.04.
Extract and Install libBHand
2. Install libHand
Download libBHand
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Obtain the libBHand from Grasping Library for Linux.
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Download the appropriate version based on your system architecture:
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64-bit systems: LibBHand_64.zip
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32-bit systems: LibBHand_32.zip
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To check your system architecture, run:
3. Install the PCAN Driver
To interface with the Allegro Hand V4, you need to install PCAN drivers for the Peak Systems PCAN-USB adapter.
Install Dependencies
Download the Latest Drivers
Download the latest PCAN Linux Driver from Peak-System’s official website.
Install the Drivers
Verify Installation
Check if the interface is installed correctly:
You should see streaming output.
Check for Available Interfaces
When the Allegro Hand V4 is connected, you should see pcanusb0 or pcanusbN
(where N is a number):
If no device files are listed, manually create them by running the following command inside the downloaded PCAN driver folder:
(Optional) Learn CAN Communication
If you are unfamiliar with PCAN communication, refer to the official CAN Communication Tutorial.
Linux Projects
You can clone or download the source code from the official repository: GitHub Repository
C++ API
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This API provides instructions on how to run a grasp demo for the Allegro Hand V4 using C++.
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The C++ API does not require ROS.
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Clone or download the C++ project: C++ Source Code
ROS1 API
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This API includes ROS1 Noetic packages for controlling the Allegro Hand V4 on Ubuntu 20.04.
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The ROS1 API also offers Python client examples.
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Clone or download the ROS1 source code: ROS1 Source Code