OpenClaw x ROS2 机械夹爪复现

本文用于从 0 到 1 复现：通过 OpenClaw 在 ROS2 中控制机械夹爪开合和角度。

1. 环境搭建与下载

• Ubuntu 22.04
• ROS2 Humble
• OpenClaw（安装说明：https://openclaws.io/zh/）
• RosClaw 仓库：https://github.com/PlaiPin/rosclaw
• 功能包仓库：https://github.com/COONEO/Openclaw_To_ROS2

安装基础依赖：

sudo apt update
sudo apt install -y git curl build-essential python3-colcon-common-extensions ros-humble-rosbridge-server
npm install -g openclaw@latest
openclaw onboard --install-daemon
npm install -g pnpm@9.15.4

下载代码：

mkdir -p <your_ws>
cd <your_ws>
git clone https://github.com/COONEO/Openclaw_To_ROS2 serial_servo
git clone https://github.com/PlaiPin/rosclaw.git rosclaw

2. 安装 RosClaw 插件并应用补丁

cd <your_ws>/rosclaw
pnpm install
openclaw plugins install -l <your_ws>/rosclaw/extensions/openclaw-plugin
openclaw plugins enable rosclaw
git apply <your_ws>/serial_servo/rosclaw_local.patch
pnpm install
openclaw config set plugins.entries.rosclaw.config '{"transport":{"mode":"rosbridge"},"rosbridge":{"url":"ws://127.0.0.1:9090"},"robot":{"name":"serial-gripper","namespace":""}}'
openclaw gateway restart

3. 启动通信与控制链路

终端 A：编译并启动串口桥节点

cd <your_ws>/serial_servo
source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 launch serial_servo_bridge serial_servo_bridge.launch.py

终端 B：启动 rosbridge

source /opt/ros/humble/setup.bash
source <your_ws>/serial_servo/install/setup.bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

终端 C：加载 skill 并打开 OpenClaw 控制台

mkdir -p ~/.openclaw/skills/gripper-control
cp <your_ws>/serial_servo/openclaw_skills/gripper-control/SKILL.md ~/.openclaw/skills/gripper-control/SKILL.md
openclaw gateway restart
openclaw dashboard

4. OpenClaw 控制机械夹爪

在 OpenClaw Dashboard 会话中发送以下指令即可控制：

• 打开夹爪
• 闭合夹爪
• 把夹爪调到 -20 度
• 当前夹爪角度是多少

也可以直接发送工具指令：

用 ros2_publish 向 /servo/command 发布 serial_servo_bridge/msg/ServoCommand，消息为 {mode: 0, servo_id: 1, value: -30.0}

5. 关键文件说明

• openclaw_skills/gripper-control/SKILL.md：夹爪控制 skill
• rosclaw_local.patch：RosClaw 本地补丁
• serial_servo_bridge/README.md：串口桥节点说明