gripper_controller

Installation

1. Clone this package

cd /path/to/ros2_ws/src
git clone https://github.com/bk1021/gripper_controller.git
cd gripper_controller

2. Install dependencies

sudo apt update
sudo apt install libgpiod-dev libyaml-cpp-dev

3. build

cd ../..
colcon build --packages-select gripper_controller

Usage

Note: Check servo configuration in config/gripper_params.yaml, rebuild after edit

Run gripper_controller node in default mode (PWM signal is send for 100 * period s after service call/angle command published)

ros2 launch gripper_controller gripper.launch.py

For using continuous PWM signal control

ros2 launch gripper_controller gripper.launch.py bgthread:=true

To open gripper

ros2 service call /set_gripper std_srvs/srv/SetBool "{data: true}"

To close gripper

ros2 service call /set_gripper std_srvs/srv/SetBool "{data: false}"

Servo angle tuning

Direct angle control (0 - 270 deg)

ros2 topic pub /gripper_angle std_msgs/msg/Int32 "{data: 90}"

After determining opening and closing angle for gripper, update them in config/gripper_params.yaml, rebuild after edit.