Gripper controller

Description

This is the control interface for the gripper.

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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
   

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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