Add the Allegrohand model (left and right) to sim_xela_server so that sim_xela_server can simulate the taxcel data for the Allegrohand model.

The two target models to be added to sim_xela_server are:
- XR23AHLCPP (Allegro hand v4 left)
- XR23AHRCPP (Allegro hand v4 right)

Pre-prepared profiles and captured default data for the Allegrohand model are used, which can be selected as parameters at startup.

sim_xela_server¶

WebSocket replayer server for Xela taxel JSON data. This package provides a
standalone WebSocket server that streams JSON messages to connected clients
(e.g., xela_server2_ah, xela_server2_2f) and supports concurrent multi-client broadcast.

Build¶

source /opt/ros/humble/setup.bash
cd /home/invokelee/xela_robotics/02_dev_ws
colcon build --packages-select sim_xela_server

Run¶

source /opt/ros/humble/setup.bash
source /home/invokelee/xela_robotics/02_dev_ws/install/setup.bash
ros2 run sim_xela_server sim_xela_server_node --ros-args \
  -p model_name:=XR23AHLCPP \
  -p bind_port:=5000 \
  -p integer_z_range:=4000.0 \
  -p calib_z_range:=6.0 \
  -p z_bias_power:=2.0

Launch¶

source /opt/ros/humble/setup.bash
source /home/invokelee/xela_robotics/02_dev_ws/install/setup.bash
ros2 launch sim_xela_server sim_xela_server.launch.py \
  model_name:=XR23AHLCPP \
  integer_z_range:=4000.0 calib_z_range:=6.0 z_bias_power:=2.0

Notes¶

• Reference JSON files live under resource/ in this package.
• Presets are in config/replayer_presets.yaml.
• Multiple clients can connect at the same time and receive the same stream.
• Use integer_z_range/calib_z_range to reduce simulated Z amplitude.
• z_bias_power (>1.0) makes small Z values more frequent.
• Presets H, M, L set z_bias_power to 3.0/2.0/1.2.
• FSD: fsd_sim_xela_server.md.