onrobot_rg_control ROS2 HUMBLE

The onrobot_rg_control package is designed to control the RG2-FT gripper using ROS2 HUMBLE and Modbus TCP. (For Foxy change to Foxy branch)

Installation

To use this package, you first need to clone it into your ROS 2 workspace. Use the following command:

cd ~/ros2_ws/src
git clone https://github.com/fraunhoferhhi/Ros2-OnRobot-RG2-FT.git

Installing Dependencies

Dependencies and requirements for this package can be installed from the package.xml or requirements.txt files. Execute the following commands to install the necessary dependencies:

Install dependencies from package.xml

rosdep update
rosdep install --from-paths src --ignore-src -r -y

Install Python pymodbus

pip install pymodbus

Build the packages

cd ~/ros2_ws/

colcon build

source install/setup.bash

Establishing Connection and Starting Control

To establish a connection to the RG2-FT gripper, first start the bringup launch file with the following command:

ros2 launch onrobot_rg_control bringup.launch.py

In a separate terminal, you can then start the control node to control the gripper:

ros2 run onrobot_rg_control onrobot_rg_simple_controller

With these steps, you have completed the basic setup and are now ready to control the RG2-FT gripper using ROS and Modbus TCP.