dg5f_gz ROS 2 Package 🚀

📌 Overview

It provides detailed Gazebo simulations of the Delto Gripper-5F using ROS 2 control joint trajectory controllers.

📦 How to Install Dependencies for a Single ROS2 Package (dg5f_gz) Using rosdep

Follow these steps to install dependencies specifically for the dg5f_gz package only, excluding other packages in your workspace.

1️⃣ Navigate to the workspace root

cd ~/your_ws

2️⃣ Update rosdep (without sudo)

apt update
rosdep update

⚠️ Important: Do not use sudo when running rosdep update.

3️⃣ Install dependencies only for the specific package (dg5f_gz)

rosdep install --from-paths src/DELTO_M_ROS2/dg5f_gz --ignore-src -r -y

• --from-paths: Limits dependency checking to the specified path
• --ignore-src: Ignores packages already present in your workspace
• -r: Recursively checks dependencies within subdirectories
• -y: Automatically confirms installation of dependencies

✅ Verify Installation by Building the Package

After installing dependencies, confirm the package builds successfully:

colcon build --packages-select dg5f_gz

This command builds only the dg5f_gz package, ensuring it compiles correctly.

🎮 Simulation Usage

Below are detailed instructions for launching the Delto Gripper-5F simulation and executing control commands using ROS 2 Control.

🎛️ Controlling Left Delto Gripper-5F

1. Loading a URDF model into Gazebo

Launch the Left Delto Gripper-5F simulation with:

ros2 launch dg5f_gz dg5f_left_gz.launch.py

This command initializes Gazebo, loads the specified URDF robot description, and activates all necessary ROS 2 control plugins.

2. Sending control commands using ROS 2 Control

• Python Example: dg5f_left_gz_test.py

Run the Python test script:

ros2 run dg5f_gz dg5f_left_gz_test.py

• 💻 C++ Example: dg5f_left_gz_test.cpp

Execute the C++ test node:

ros2 run dg5f_gz dg5f_left_gz_test_cpp

🎛️ Controlling Right Delto Gripper-5F

1. Loading a URDF model into Gazebo

Launch the Right Delto Gripper-5F simulation:

ros2 launch dg5f_gz dg5f_right_gz.launch.py

2. Sending control commands using ROS 2 Control

• 💻 Python Example: dg5f_right_gz_test.py

Run Python script:

ros2 run dg5f_gz dg5f_right_gz_test.py

• 💻 C++ Example: dg5f_right_gz_test.cpp

Run C++ node:

ros2 run dg5f_gz dg5f_right_gz_test_cpp

🎛️ Controlling Both Delto Gripper-5F

1. Loading both URDF models into Gazebo

Launch the Both Delto Gripper-5F simulation:

ros2 launch dg5f_gz dg5f_both_gz.launch.py

2. Sending control commands using ROS 2 Control

• 💻 Python Example: dg5f_both_gz_test.py

Run the Python script to control both grippers:

ros2 run dg5f_gz dg5f_both_gz_test.py

• 💻 C++ Example: dg5f_both_gz_test.cpp

Execute the C++ node:

ros2 run dg5f_gz dg5f_both_gz_test_cpp

🤝 Contributing

Contributions are highly encouraged and greatly appreciated. To contribute:

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

📄 License

This project is released under the BSD-3-Clause license, promoting open-source collaboration and reuse.

📧 Contact

For additional support or inquiries about this package, please contact TESOLLO SUPPORT.