Merge branch '57-add-robotiq-gripper' into ui

README.md

@@ -86,6 +86,27 @@ ros2 launch rove_bringup rove_controller_bluetooth.launch.py
 ros2 launch rove_bringup vectornav.launch.py
 ```
 
+## Using the Robotiq gripper
+Launch the gripper controller:
+```bash
+ros2 launch robotiq_description robotiq_control.launch.py
+```
+
+Close the gripper (set to 1m to reduce command lenght):
+```bash
+ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 1, max_effort: 1.0}}"
+```
+
+Open the gripper:
+```bash
+ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0, max_effort: 1.0}}"
+```
+
+View the gripper in RViz:
+```bash
+ros2 launch robotiq_description view_gripper.launch.py
+```
+
 ## Adding New Packages
 
 To add a package for Rove, create it using the ROS2 command ([Creating Your First ROS2 Package](https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html)). Name it starting with `rove_` to ensure Git tracking. For non-Rove specific packages, create a separate repository and add it to `rove.repos`.

rove.repos

@@ -19,4 +19,19 @@ repositories:
     type: git
     url: https://github.com/stereolabs/zed-ros2-interfaces.git
     version: main
-
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: humble
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: humble

src/rove_bringup/launch/real.launch.py

@@ -14,6 +14,7 @@ def generate_launch_description():
     # Get the launch directory
     pkg_rove_bringup = get_package_share_directory('rove_bringup')
     pkg_rove_description = get_package_share_directory('rove_description')
+    pkg_robotiq_description = get_package_share_directory('robotiq_description')
     pkg_rove_zed = get_package_share_directory('rove_zed')
 
     # Get the URDF file
@@ -44,6 +45,12 @@ def generate_launch_description():
         }.items(),
     )
 
+    gripper = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_robotiq_description, "launch", "robotiq_control.launch.py"),
+        )
+    )
+
     ###### ROS2 control ######
     controllers = PathJoinSubstitution(
         [
@@ -130,6 +137,7 @@ def create_controller_node(node_name:str):
     return LaunchDescription([
             control_node,
             common,
+            gripper,
             joint_state_broadcaster_spawner,
             *delayed_controller_nodes,
             vectornav,