DexCap System

DexCap glove teleoperation system.

Access Required

DexCap components require private repository access.

Components

Component

Repository

Purpose

dexcap-ros2-control

Private

V4 driver

dexcap_teleop_ws

Private

Workspace

teleop-joint-mapper

Private

Joint mapping

dexcap-ros2-control

Purpose

ROS 2 driver for DexCap V4 gloves:

  • Sensor reading

  • Calibration

  • Joint angle output

Topics

Topic

Type

Description

/dexcap/joint_states

JointState

Glove joint angles

/dexcap/hand_pose

PoseStamped

Hand position

/dexcap/calibration_status

Bool

Calibration state

Usage

ros2 launch dexcap_ros2_control driver.launch.py

First connection with safety:

ros2 launch dexcap_ros2_control driver.launch.py publish_command:=false

dexcap_teleop_ws

Deployment workspace for DexCap teleoperation.

Setup

Follow the private workspace README for its init / setup scripts.