README_gripper_instruction.md

Instruction to install and run Robotiq gripper driver

Installation

Clone robotiq repo

Start the command from the root workspace directory.

cd src
git clone https://github.com/sequenceplanner/robotiq_2f.git

Install ros2_rust

For detail instruction, please follow this link. Here are all the commands:

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
git clone https://github.com/ros2-rust/ros2_rust.git
sudo apt install -y git libclang-dev python3-pip python3-vcstool
cargo install cargo-ament-build
pip install git+https://github.com/colcon/colcon-cargo.git
pip install git+https://github.com/colcon/colcon-ros-cargo.git

Now we need to modify the .repos file because we are using ROS2 galactic. Make a copy of ros2_rust_foxy.repos and named it ros2_rust_galactic.repos. Modify all foxy into galactic in the file.

cd .. (move back to root workspace directory)
vcs import src < src/ros2_rust/ros2_rust_galactic.repos

Build robotiq_2f_driver

colcon build --packages-up-to robotiq_2f_driver
colcon build --packages-up-to robotiq_2f_driver_ui

Running Robotiq gripper driver

Find USB device name

I have tried lsusb and lsblk, but they don't work well. Run this command instead:

dmesg

Hopefully, you will see something like ttyUSB0. And now we need to give permission to access it:

sudo chmod 777 /dev/ttyUSB0

Launching the driver

You will see the gripper close and open.

. install/setup.bash
ros2 run robotiq_2f_driver robotiq_2f_driver

Controlling the gripper from command

. install/setup.bash
ros2 topic pub -1 /robotiq_2f_command robotiq_2f_msgs/msg/CommandState "{command: 'close'}"
ros2 topic pub -1 /robotiq_2f_command robotiq_2f_msgs/msg/CommandState "{command: 'open'}"

Controlling the gripper with GUI

There will be a window with open and close buttons.

. install/setup.bash
ros2 run robotiq_2f_driver_ui robotiq_2f_driver_ui