dg3f_m_driver ROS 2 Package 🚀

📌 Overview

The dg3f_m_driver ROS 2 package provides a hardware interface leveraging ros2_control for the DG-3F-M grippers, enabling direct robotic control operations.

📦 Dependency Installation

Navigate to Workspace

cd ~/your_ws

Update rosdep

apt update
rosdep update

Install Specific Dependencies

rosdep install --from-paths src/DELTO_M_ROS2/dg3f_m_driver --ignore-src -r -y

Verify Installation by Building

colcon build --packages-select dg3f_m_driver

🎛️ Controlling Delto Gripper-3F-M

1. Loading a URDF model into Gazebo

Launch the Left Delto Gripper-3F-M controller with:

ros2 launch dg3f_m_driver dg3f_m_driver.launch.py

2. Here’s a simple topic-based control command example:

• Python Example: dg3f_m_test.py

Run the Python test script:

ros2 run dg3f_m_driver dg3f_m_test.py

• 💻 C++ Example: dg3f_m_test.cpp

Run the CPP test code:

ros2 run dg3f_m_driver dg3f_m_test_cpp

🤝 Contributing

Contributions are encouraged:

1. Fork repository
2. Create branch (git checkout -b feature/my-feature)
3. Commit changes (git commit -am 'Add my feature')
4. Push (git push origin feature/my-feature)
5. Open pull request

📄 License

BSD-3-Clause

📧 Contact

TESOLLO SUPPORT