onrobot2

ROS 2 drivers for OnRobot Grippers. This repository is based on Osaka-University-Harada-Laboratory/onrobot.

Features

• ROS 2 Humble
• Controller for OnRobot RG2 / RG6 via Modbus/TCP

Dependency

• pymodbus==2.5.3

Installation

cd my_ws/src
git clone https://github.com/Tiqo01/onrobot2.git 
cd ../
sudo rosdep install --from-paths ./src --ignore-packages-from-source 
colcon build

RG2 / RG6

Send motion commands

Interactive mode

ros2 launch onrobot2_rg_control bringup.launch.py 
ros2 run onrobot2_rg_control OnRobotRGSimpleController.py

ROS service call

ros2 launch onrobot2_rg_control bringup.launch.py 
ros2 run onrobot2_rg_control OnRobotRGSimpleControllerServer.py
ros2 service call /onrobot_rg/set_command "{command: 'c'}"
ros2 service call /onrobot_rg/set_command "{command: 'o'}"
ros2 service call /onrobot_rg/set_command "{command: 'c'}"

License

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