PG70 and EZN64 Xacro models and drivers for serial communication (RS232, USB). See Wiki page for more details
##PG70 package
- uses ROS serial library package to interface pg70 controller over serial port
- provides ROS services for basic gripper control (get_position, set_position, reference, get_error, acknowledge_error, stop)
- allows user to set goal position with velocity and acceleration
- includes Xacro model for easier integration with various robots
- automatically reads and broadcasts actual gripper position to tf
##EZN64 package
- uses libusb1-0 library to interface ezn64 controller over USB port
- provides ROS services for basic gripper control (get_position, set_position, reference, get_error, acknowledge_error, stop)
- allows user to set only goal position, velocity and acceleration setpoints are not supported within current version
- includes Xacro model for easier integration with various robots
- automatically reads and broadcasts actual gripper position to tf
##Demonstration RVIZ Schunk grippers + Motoman SDA10F in simulation
##Demonstration with real robot
