/wsg50_ros

Primary LanguageC++

ROS2 (humble) package for Schunk WSG50

humble pre-commit.ci status

Setup

  1. Setup IP for gripper and ping 172.31.1.160

  2. Open web browser with 172.31.1.160 to open gripper config.

  3. Make sure that port number is 1501 as shown in the figure.

    Gripper Configuration

  4. Change launch file (wsg50_driver/launch/gripper.launch.py) according to the IP and Port number.

    declare_arguments.append(
    DeclareLaunchArgument(
        "gripper_ip",
        default_value="172.31.1.160",
        description="Gripper IP address",
    ),
)

declare_arguments.append(
    DeclareLaunchArgument(
        "port",
        default_value="1501",
        description="Gripper Port Number",
    ),
)

ToDo (wsg50_driver):

  1. Currently set(CMAKE_BUILD_TYPE Debug) is set in CMakeLists.txt to avoid **overload**.
  2. The error occurs in file msg.cpp line 62, if set(CMAKE_BUILD_TYPE Debug) is not set or cmake build type is Release.
  3. Client goal response is not called until timer is cancelled.