/softmatics

NITTA SOFTmatics packages (https://wiki.ros.org/softmatics)

Primary LanguagePythonMIT LicenseMIT

softmatics

support level: community License: MIT repo size

ROS package for NITTA SOFTmatics gripper.
Note that this repository is not an official repository, which is not supported by Nitta Corporation.

Dependencies

Installation

cd catkin_ws/src && git clone git@github.com:takuya-ki/softmatics.git --depth 1 && git clone https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git --depth 1 && cd ../ && sudo rosdep update && sudo rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y --os=ubuntu:focal -y && sudo apt install ros-noetic-ros-control ros-noetic-ros-controllers && catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3

Usage

Display a model

roslaunch softmatics_description disp_softmatics_model.launch

Gazebo simulation

roslaunch softmatics_gazebo bringup_softmatics_gazebo.launch
rostopic pub -1 /softmatics/joint_position_controller/command std_msgs/Float64 "data: 0.6"

Grasp/release execution

  1. Upload the sketch.ino to the Arduino board
  2. Execute the launch to trigger for grasping/releasing
roslaunch softmatics_device trigger.launch
  1. Toggle the current mode (turn on / off)
rosservice call /softmatics_device/toggle

Author / Contributor

Takuya Kiyokawa

License

This software is released under the MIT License, see LICENSE.