dg5f_driver ROS 2 Package 🚀

📌 Overview

The dg5f_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/dg5f_driver --ignore-src -r -y

Verify Installation by Building

colcon build --packages-select dg5f_driver

⚠️ Before You Control: Notes

The dg5f_driver (ros2 control) are currently using operates in Developer Mode, which uses a custom protocol over Ethernet. If the gripper is set to Developer Mode, please make sure that switches ② and ④ are in the correct positions, as shown in the attached image.

🎛️ Controlling Delto Gripper-5F-LEFT

1. Loading Delto-Gripper-5F-LEFT controller

Launch the Delto Gripper-5F-LEFT controller with:

ros2 launch dg5f_driver dg5f_left_driver.launch.py

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

• Python Example: dg5f_left_test.py

Run the Python test script:

ros2 run dg5f_driver dg5f_left_test.py

🎛️ Controlling Delto Gripper-5F-RIGHT

1. Loading Delto-Gripper-5F-RIGHT controller

Launch the Delto Gripper-5F-RIGHT controller with:

ros2 launch dg5f_driver dg5f_right_driver.launch.py

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

• Python Example: dg5f_right_test.py

Run the Python test script:

ros2 run dg5f_driver dg5f_right_test.py

🤝 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