Delto Gripper

This is Delto Gripper ROS 2 package.

Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration.

Check also Delto 3F Gripper

Check also Delto 2F Gripper

Build Status

ROS Distro	ROS2 (22.04)
Branch	Humble

⚠️ Notice: DG3FB (Firmware v2.x or higher)

The DG3FB (Delto 3F Gripper B type) with firmware version 2.x or higher uses a different communication protocol and is not compatible with this repository.

For DG3FB (firmware 2.x+), please use DELTO_M_ROS2 and refer to the example script dg3fb.py.

The new SDK and ROS2 bridge are supported.

Packages in the Repository:

• delto_3f_description - URDF, mesh file

• delto_3f_driver - Delto Gripper 3F ROS2 driver

• delto_3f_moveit - example MoveIt configuration for Delto Gripper.

• delto_2f_driver - Delto Gripper 2F ROS2 driver

Some physical measurements (like PID Gain, inertia) may not be accurate. Adjustments may be necessary for a perfect simulation or operation.

Getting Started

1. ROS2 Install

• Check this ROS 2 Humble installation site.

2. Gazebo Ign Install

• Check this Gazebo installation site.

sudo apt-get install ros-humble-ros-gz

3. Moveit Install

sudo apt install ros-humble-moveit

4. ROS2 Control Install

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

5. Create a new ROS2 workspace:

cd your_ros2_ws/src
git clone https://github.com/Tesollo-Delto/DELTO_ROS2
colon build 

How to use Delto Gripper

Delto_3f_driver subscribes to the topic /gripper_cmd and /target_joint.

• Check this Delto Driver

How to Connect Delto Gripper with Robot Arm

Connecting Gripper URDF file with robot arm

make new joint (robot_arm_end_link - gripper_base_link)

**example Delto with robot-arm (Universal Robot)

...

</joint>
  <joint name="ee_joint" type="fixed">
    <origin rpy="0 1.57 0" xyz="0 0 0"/>
    <parent link="wrist_3_link"/>
    <child link="delto_base_link"/>
    <!-- <axis xyz="0.0 1.0 0.0"/> -->
 </joint>
 
 ...
  

visualizing delto gripper

ros2 launch delto_description dg3f_display.launch.py

ros2 launch delto_description dg2f_display.launch.py

ros2 launch delto_3f_driver delto_3f_bringup.launch.py delto_ip:=192.168.0.100 delto_port:=502

Feature Requests and Bug Reports

If you have any feature requests, modification suggestions, or encounter any bugs, please create an issue on GitHub or contact the maintainer at support@tesollo.com.