EZGripper robotic gripper - ROS drivers
Python CMake
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.

README.md

EZGripper

These are the EZGripper ROS drivers. If you are not using ROS, use https://github.com/SAKErobotics/SAKErobotics

Install the EZGripper ROS Driver

  1. Install the python EZGripper library https://github.com/SAKErobotics/libezgripper

  2. Install dependencies:

    $ sudo apt-get install ros-indigo-joystick-drivers

  3. Download code:

    $ cd ~/catkin_ws/src $ git clone https://github.com/SAKErobotics/EZGripper.git $ cd .. $ catkin_make

  4. Setup parameters in joy.launch file

  • ~port - serial device (like "/dev/ttyUSB0") or tcp endpoint (like "192.168.0.200:5000") to use
  • ~baud - baud rate of the serial device, not used for tcp
  • grippers - definition of grippers on this serial bus: the gripper name to use for the action interface and the servo id of the gripper (several ids if several grippers are to be used as one group), for example {left:[9], right:[10,11]}. By default, SAKE Robotics delivers its grippers with address 1 for Duals and 1 and 2 for Quads and 57kbps.
  1. Launch the node - example launch files to support various EZGripper configurations.

    $ roslaunch ezgripper_driver joy.launch // joy.launch is configured for a single servo gripper (dual) and the USB interface

    $ roslaunch ezgripper_driver joy2.launch // joy2.launch is configured for two independent servos (quad independent) and the USB interface

    $ roslaunch ezgripper_driver joy2sync.launch // joy2sync.launch controls two servos as if it were a single servo (quad dependent) and the USB interface

    $ roslaunch ezgripper_driver joy_tcp.launch // joy_tcp.launch controls a single servo via TCP instead of USB

Action API

The driver provides an implementation of the SimpleActionServer, that takes in control_msgs/GripperCommand actions. A sample client (nodes/client.py) is included that provides joystick control using the action API.

urdf Models

see README.md in the urdf directory. https://github.com/SAKErobotics/EZGripper/tree/master/ezgripper_driver/urdf

TroubleShooting

Serial connection issues:

Error message: 'Serial' object has no attribute 'setParity'  --- this message indicates you have a new version of serial library that causes issues.  Do the following command to load an older pySerial library.
$ sudo pip install "pySerial>=2.0,<=2.9999"

Error message: permission denied (get accurate error message).  This indicates the user does not have privellages to use the /dev/ttyUSBx.  The solution is to add the <user> to the "dialout" group.  After executing the following command, reboot.
$ sudo adduser <user> dialout
reboot