tesollo_dg_3f_gripper

ROS2 package for TESOLLO DG-3F Gripper with MODBUS-RTU

Installation

$ cd ~/dev_ws/src
$ git clone https://github.com/roasinc/tesollo_dg_3f_gripper.git
$ rosdep install --from-path tesollo_dg_3f_gripper --ignore-src -r -y

Build

$ cd ~/dev_ws
$ colcon build --symlink-install

Execute

$ ros2 launch delto_3f_description upload_gripper.launch.py
$ ros2 run delto_3f_driver main_node --ros-args -p port_name:=/dev/ttyUSB0 -r joint_states:=gripper_joint_states

## Usage
```shell
$ ros2 action send_goal /gripper_command control_msgs/action/GripperCommand "{command: {position: 0.0, max_effort: 0}}"
$ ros2 action send_goal /gripper_command control_msgs/action/GripperCommand "{command: {position: 1.0, max_effort: 100}}"