moving the shadow robot with a haptic glove

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hey, thank you for your answer i will try it, my glove has 5 flex sensors, one per each finger, then i think it have 5 DOFs, and in this moment i'm reading the sensor data at 500ms. Another thing, i don't have the values in only one topic, i have it in 5 topics, one per flex sensor.

OK thanks for that. Your mapping matrix should be very simple then (you could even publish directly to the correct topics (/sh_ffj3_mixed_position_velocity_controller/command, mfj3, rfj3, lfj3, ?? not sure where's you last sensor so I can't know which joint it is controlling on the shadow hand) ).

watching the information that you gives to me, i saw that i have to publish in each joint the position, but i have just one sensor per finger(one sensor for 3 joints), i have to send the same information for each joint?, i know that the movement isn't exactly in my way, but i need to be near

You'll have either to map your sensor to the 3 joints of the finger, or you control only one joint with your sensor (for example the proximal joint (FJ3) ). This depends on the sensor's position. Just note that on our hand you can't control the distal and middle joint separately (coupled J0=J1+J2)

sorry, i don't understand you, when you said that i can't control the distal and middle joint, it moves just with the proximal one???

No. You can send a target to the middle + distal joints together for first, middle, ring and little finger. You can't control just the distal for example (same as a human hand). So if you send 2*pi/3 to FFJ0, FFJ1 will go to pi/3 and so will FFJ2. But you can send an other target to proximal FFJ3.

ok, i understand, thak you, do you have any tutorial link or files of how to do the remapper, i'm trying but the information is a little poor, and i'm not a advance ros user, thank you!

Sorry no tutorial available for this. If you find the code to complex to your liking you can rewrite something from scratch as you just need to subscribe to your topic and publish to the controller command topics I indicated. Lots of documentation available on how to do this!