DH Gripper ROS 2 (Humble) Package

Overview

This repository provides ROS 2 Humble packages for controlling DH Robotics grippers (including PGC140, AG95, DH3, RGI, etc.), their URDFs, and simulation/visualization support.

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Installation

1. Install ROS 2 Humble
   Follow the official ROS 2 Humble installation guide.

2. Clone this repository into your ROS 2 workspace:

   cd ~/ros2_ws/src
   git clone <this-repo-url>

3. Install dependencies:

   sudo apt update
   sudo apt install ros-humble-joint-state-publisher-gui ros-humble-robot-state-publisher ros-humble-rviz2 ros-humble-gazebo-ros

4. Build the workspace:

   cd ~/ros2_ws
   colcon build --symlink-install

5. Source the workspace:

   source install/setup.bash

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Usage

1. Launch the Gripper Driver

To start the gripper driver node (example for PGC140):

ros2 launch dh_gripper_driver dh_gripper.launch.py

You can override parameters:

ros2 launch dh_gripper_driver dh_gripper.launch.py Gripper_ID:=1 Gripper_Model:=PGC140 Connect_port:=/dev/ttyUSB0 BaudRate:=115200

2. Send Commands to the Gripper

Publish a control command (example):

ros2 topic pub /gripper/ctrl dh_gripper_msgs/msg/GripperCtrl "{initialize: false, position: 1000.0, force: 100.0, speed: 100.0}"

3. Visualize in RViz2

To visualize the gripper and its state, use the appropriate launch file from the URDF or description package, or create your own using robot_state_publisher, joint_state_publisher_gui, and rviz2.

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Notes

• All launch files are now in ROS 2 Python format (.launch.py).
• All parameters must match the names expected in the driver code (Gripper_ID, Gripper_Model, Connect_port, BaudRate).
• The driver expects Gripper_ID and BaudRate as integers, others as strings.
• For simulation or visualization, see the dh_pgc140_urdf, dh3_urdf, or other URDF packages.

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Troubleshooting

• If you get a parameter type error, ensure your launch file and C++ code use the same types for each parameter.
• Always source your workspace after building: source install/setup.bash
• Use colcon build --symlink-install for development.

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License

BSD

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Authors

• Kartik Soni