DH AG95 Gripper ROS2 Driver

Important: This is a dependency: https://github.com/ian-chuang/serial-ros2

This repository contains a ROS2 driver for controlling the DH Robotics AG95 Gripper. It builds upon the low-level code from DH Robotics' ROS1 driver and integrates it with ros2_control, following the structure of ros2_robotiq_gripper.

Note: This driver has been tested on Ubuntu 22.04 and ROS2 Humble.

Installation

1. Source ROS2 Humble:

   source /opt/ros/humble/setup.bash

2. Clone the repository into your ROS2 workspace:

   cd /path/to/your_ros2_ws/src
   git clone -b humble https://github.com/ian-chuang/dh_ag95_gripper_ros2.git

3. Install dependencies using rosdep:

   rosdep install -i --from-path . --rosdistro humble -y

4. Build the package:

   colcon build

5. Source the setup files:

   source /path/to/your_ros2_ws/install/local_setup.bash

Configuration

1. Find the port that the gripper is currently binding to, e.g., ttyUSB0.

2. Run the following command to obtain the serial number:

   udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial

   Use the first serial number that shows up; the format should look similar to FT6S4DSP.

3. Edit the udev rules file:

   sudo nano /etc/udev/rules.d/99-dh-ag95-gripper.rules

   Add the following line, replacing <serial number here> with your sensor's serial number:

   SUBSYSTEM=="tty", ATTRS{serial}=="<serial number here>", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="robot/dh_ag95_gripper"

4. Apply the changes:

   sudo udevadm control --reload && sudo udevadm trigger

Usage

Launch the driver with the following command:

ros2 launch dh_gripper_driver dh_ag95_control.launch.py com_port:=/dev/robot/dh_ag95_gripper

To command the gripper to close, open another terminal and run this command:

ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.93]}"

Similarly, to open the gripper, use:

ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "{data: [0]}"

To view the URDF, use:

ros2 launch dh_ag95_description view_dh_ag95.launch.py