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Hi, if I were you I'd look at the sr_remappers code. Basically you're getting a vector of data from your glove and want to remap it to the shadow hand. To do this you need to remap the glove space to the hand space (-> write a matrix which will transform from one to the other). The remapper should subscribe to your glove topic and republish to the hand controllers:

• /sh_ffj0_mixed_position_velocity_controller/command
• /sh_ffj3_mixed_position_velocity_controller/command
• /sh_ffj4_mixed_position_velocity_controller/command
• etc...

Once you've written this remapper, you can just start the simulated hand:

roslaunch sr_hand gazebo_hand.launch
rosrun gazebo gui

Finally start your glove node and start your remapper node.

Let me know how it goes.

May I ask how many DOFs does your glove have? At what kind of frequency are you polling the data?