grippers

ROS 2 gripper drivers that expose a common action-based API for opening/closing a custom built gripper.

Packages

• gripper_msgs: ROS 2 action definitions (OpenGripper, CloseGripper).
• gripper_dynamixel: DynamixelSDK (Protocol 2.0) based action server (Python).
• gripper_feetech: Feetech STS/SCS based action server (C++).
• gripper_ros: launch files + centralized parameter YAMLs.

Action API

All implementations aim to expose the same action names:

• /open_gripper (gripper_msgs/action/OpenGripper)
• /close_gripper (gripper_msgs/action/CloseGripper)

See docs/action_interface.md for goal/result/feedback fields and CLI examples.

Dependencies

sudo apt update
sudo apt install -y \
	python3-colcon-common-extensions \
	python3-rosdep \
	python3-pip \
    python3-serial

Cloning

If you are adding this repo into a ROS 2 colcon workspace:

mkdir -p ~/colcon_ws/src
cd ~/colcon_ws/src
git clone --recurse-submodules https://github.com/CollaborativeRoboticsLab/grippers.git

ROS deps via rosdep

From the root of your colcon workspace:

cd ~/colcon_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y --rosdistro "$ROS_DISTRO"

Serial port permissions

Most USB serial adapters require your user to be in dialout:

sudo usermod -a -G dialout $USER

Log out/in after changing groups.

Build

cd ~/colcon_ws
source /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-install
source install/setup.bash

Running

Dynamixel

• Config: gripper_ros/config/dynamixel.yaml
• Launch:

ros2 launch gripper_ros dyanmixel.launch.py

Override params file:

ros2 launch gripper_ros dyanmixel.launch.py params_file:=/abs/path/to/dynamixel.yaml

See docs/dynamixel.md for motor model presets and parameter details.

Feetech (STS/SCS)

• Config: gripper_ros/config/feetech.yaml
• Launch:

ros2 launch gripper_ros feetech.launch.py

Override params file:

ros2 launch gripper_ros feetech.launch.py params_file:=/abs/path/to/feetech.yaml

See docs/feetech.md for parameter details.

Docs

• docs/action_interface.md
• docs/dynamixel.md
• docs/feetech.md