/dh_gripper_ros

ROS DH-Robotics meta-package

Primary LanguageC++

Gripper controller

Description

This is the control interface for the gripper.

Installation

  1. Make sure you have already installed and Configured Your ROS Environment

  2. Create and build a catkin workspace: (you can skip this step , if you have already created it)

    $ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

  3. Clone the whole directory( dh_gripper_driver_ros ) to your catkin's workspace src folder

  4. Compile the code

    $ cd ~/catkin_ws/
$ catkin_make

  5. Add the path including to the ROS_PACKAGE_PATH environment variable. Open ~/.bashrc file and add at the end the following line.

    $ source ~/catkin_ws/devel/setup.bash

Instructions

  1. Connect all hardware and Turn on the power
  2. Modify launch file and Running controller

    First , Modify the dh_gripper.launch file in according to the product model

     //gripperID default 1
 <arg name="GripperID" default="1"/>
 //gripper Model
 <arg name="GripperModel" default="PGE"/>
 //grippper USB Port Name
 <arg name="Connectport" default="/dev/ttyUSB0"/>
 //gripper Baudrate defalut : 115200
 <arg name="Baudrate" default="115200"/>

    Now , you can running controller

    $ roslaunch dh_gripper_driver dh_gripper.launch

    If If it runs successfully , you will see the initialization of the gripper,and then auto close and open

  3. Disable test run ,and use topic

    Modify the dh_gripper.launch file, and roslaunch dh_gripper.launch

      <arg name="test_run" default="false"/>

    use topic to control

    $rostopic pub /gripper/ctrl dh_gripper_msgs/GripperCtrl "initialize: false
position: 0.0
force: 100.0
speed: 100.0"
  4. Study how to use it

    you can read the dh_gripper_Test.cpp in /dh_hand_driver/src folder to study

  5. Enjoy it

gazebo7

$ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

$ catkin_make