robotiq_hande_driver

Package for controlling the Robotiq Hand-E gripper using the ROS 2 Control framework. It uses the robotiq_hande_description package for URDF definitions. Originally developed for integration with Universal Robots e-Series (UR5e) and ROS 2 Humble, it is possible to modify this repository to fit your needs. PRs are welcome!

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Quick Start

Connection Setup

Without Physical Hardware

• You are ready to go - just remember to pass the use_fake_hardware:=true argument.

Modbus RTU

• Connect the serial port to your system and locate the TTY device (typically /dev/ttyX).
• You will need to configure the serial connection in your .xacro.urdf file (example in robotiq_hande_description).

Modbus TCP

• You can create a local TCP <-> Virtual Serial Port server with the socat command.
  • An example usage (in the form of a Python ROS 2 wrapper) can be found in ur_robot_driver's scripts/tool_communication.py.
  • Example: socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.1.2:54321
• For the UR's ur_robot_driver, the default path to the virtual serial port is /tmp/ttyUR.

Package setup

cd ~/ceai_ws/src
git clone [email protected]:AGH-CEAI/robotiq_hande_driver.git ./src
vcs import src < src/robotiq_hande_driver/robotiq_hande_driver.repos &&
colcon build --symlink-install --packages-select robotiq_hande_driver
source ./install/local_setup.sh

Note

Configuration is split between two packages:

• robotiq_hande_description: Hardware connection parameters are set in the URDF file. Example config file.
• robotiq_hande_driver: The controller configuration is set by launch parameters for the controller_node. Example config file.

Launch preview

ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py use_fake_hardware:=true
# In other terminal
ros2 action send_goal /gripper_action_controller/gripper_cmd control_msgs/action/GripperCommand \
"command:
  position: 0.0
  max_effort: 0.0
"

Examples

An example integration usage can be find in the AGH-CEAI/aegis_ros repository.

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Development notes

This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the pre-commit. Please make sure to enable its hooks:

pre-commit install

Test Serial Connection

There is an additional test tool with hardcoded parameters to test the connection with the Hand-E without any ROS dependencies. Before build, change the hardcoded parameters in the beginning of the robotiq_hande_driver/test/communication_test.cpp file.

To run test:

cd cd ~/ceai_ws/src/robotiq_hande_driver/build/robotiq_hande_driver/
./communication_test

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License

This repository is licensed under the Apache 2.0, see LICENSE for details.