Several issues

[ignpaub]

Good morning:

First of all, thanks a lot for such an amazing repository. I am working with your files and I have several problems that I would like some help with:

• I installed this isolated repository and I am trying to launch "roslaunch allegro_hand allegro_hand.launch VISUALIZE:=true". However, I get the following error, which is normal since I do not have the gripper connected to the computer "[ERROR] [1681456529.172339972]: Invalid (empty) CAN channel, cannot proceed. Check PCAN comms.". But in rviz, I am not able to see the model since I have the following errors: "Global status error: Unknown frame palm_link" and "Robot model: "No transform from [link_0] to [palm_link]". Also, TF shows warning such as "No transform from [link_11] to frame [palm_link]".

• I tried launching the left hand, but it seems the .xacro file is not inside the repository. Could you please provide it?

Thanks a lot.

Ignacio.