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Manus Gloves ROS2 Driver

This is a basic ROS2 driver for Manus Glove. It broadcasts raw skeleton data as ROS2 messages.

manus

How to Use

We tested the driver on Ubuntu 22.04 and ROS2 Humble. It should work with similar environments as well. Here's things you need to do before using it:

  1. Install Manus Core on a Windows machine and upload your license to the dongle. A "Feature" license is required, otherwise you won't get message from Manus SDK.
  2. Clone the repo into a ROS2 workspace, e.g. you should have a folders like this ~/ros2_ws/src/manus_ros2 and ~/ros2_ws/src/manus_ros2_msgs.
  3. Download Manus SDK and put it under the manus_ros2 folder and rename it as ManusSDK. You should have a folders like this ~/ros2_ws/src/manus_ros2/ManusSDK/include and ~/ros2_ws/src/manus_ros2/ManusSDK/lib.
  4. Follow this guide to install dependencies for Manus SDK. You should follow instructions for the "core Integrated" mode.
  5. Build packages with colcon build and source the environment source ~/ros2_ws/install/setup.bash. Then run ros2 run manus_ros2 rawdata_publisher. Now you should see topics like /manus_node_poses_0 and manus_node_hierarchy_0. There should be a pair of such topics for each glove.

We also include an example client program (in Python) that subscribes to topics of a single glove and controls a Shadow Hand in mujoco in the folder client_scripts. Note that only one glove should be connected. To use this, first source the ROS2 environment. Then install dependencies pip install mujoco open3d mink. We modified the example from mink, a copy of which is already included. When running python manus_data_viz.py, it should open a open3d window and mujoco simulator window. Note that the client program uses inverse kinematics for retargetting. To get better results, you could try setting up a skeleton with Manus SDK directly.

Author: Qihao Yuan
Email: [email protected]