Controlling grippers using Modbus

[RaduCorcodel]

Hello,

Are there any implementations of a control node using Modbus. We have two grippers, one Hand-E that we control with the UNI-CTR-001-MTCP external controller (Modbus/TCP) and a 3-Finger adaptive gripper also with a Modbus interface.
Thank you.

Regards,
Radu

[bitmeal]

Look here: https://github.com/bitmeal/ros-modbus-device-driver
It's a generic Modbus/TCP device driver that exposes your coils and registers over ROS topics.

1. Define your controller (or gripper as seen through the controller) as per the specification
2. 🚀 access/use the exposed data/functions over standard ROS topics