crt_ctag2f90c_gripper

This repository provides a complete ROS interface for the ZHIXING Gripper, featuring a position controller based on force and torque. This repo includes configuration files for MoveIt!, ROS communication interfaces, and a minimalmodbus-based hardware communication layer.

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🧩 Features

• 🔧 Force & Torque Based Position Control
  Intelligently adjusts gripper position based on sensor feedback.(to be added)

• 🤖 MoveIt! Integration
  Includes a complete ctag2f90c_moveit_config for easy motion planning and visualization.

• 🧠 ROS Interface
  Provides ROS topics, services, and action servers for high-level control.

• 🔌 MinimalModbus Interface
  Communicates with the gripper hardware over Modbus RTU protocol.

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📦 Package Contents

Folder / File	Description
ctag2f90c_moveit_config	MoveIt! configuration package
crt_ctag2f90c_gripper_visualization	Model Display! Generated by sw_urdf_exporter
zhixing_gripper_ros	ROS node for gripper control
modbus_interface/	Python/C++ interface via minimalmodbus
urdf	Gripper robot description (URDF)

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🚀 Getting Started

Prerequisites

• ROS Noetic with gazebo-11.15.1 (specify your ROS version)
• Python 3.8
• minimalmodbus

Install dependencies:

sudo apt install ros-${ROS_DISTRO}-moveit ros-${ROS_DISTRO}-position-controllers ros-${ROS_DISTRO}-effort-controllers
pip install minimalmodbus
git clone https://github.com/Hency-727/crt_ctag2f90c_gripper/

Compile aand source:

cd crt_ctag2f90c_gripper && catkin_make

echo "source $(pwd)/devel/setup.bash" >> ~/.bashrc && source ~/.bashrc

Use the NVIDIA GPU for graphics rendering and OpenGL:

export __NV_PRIME_RENDER_OFFLOAD=1
export __GLX_VENDOR_LIBRARY_NAME=nvidia

Open gazebo model and check in the rviz:

roslaunch gripper_moveit_config demo_gazebo.launch 

Control the gripper by using the python script:

python src/crt_ctag2f90c_gripper_visualization/scripts/GUI2Robot_90.py

Use GUI to control the gripper:

rosrun joint_state_publisher_gui joint_state_publisher_gui

Or add the node in the launch file:

  <node
    name="joint_state_publisher_gui"
    pkg="joint_state_publisher_gui"
    type="joint_state_publisher_gui" />