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OnRobot 2FG7 Robot Driver

OnRobot 2FG7 Robot Driver

The OnRobot Robot Driver package provides a hardware interface for controlling the OnRobot 2FG7 gripper with ROS2 Control. It includes both configuration and launch files, as well as a C++ API to facilitate hardware interaction.

ROS Control

The onrobot_robot_driver package integrates with ROS2 Control to support the following functionalities:

  • Position Command: Allows sending position commands to the gripper.

  • Position State: Provides feedback on the current joint positions.

  • Velocity State: Provides feedback on the current joint velocities.

Dependencies

  • ros2control: The package is built on ros2control and requires a working ROS2 installation.

  • OnRobot API: The driver is based on the OnRobot API library. Add this package to your workspace as a source checkout using vcs.

  • onrobot2fg7description: Robot description Add this package to your workspace as a source checkout using vcs.

Installation

Follow Colcon instructions for colcon package installation.

Example usage

Start the controller: ros2 launch onrobot_robot_driver onrobot_control.launch.py