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.

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Dependencies

• ros2_control: The package is built on ros2_control 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.
• onrobot_2fg7_description: Robot description Add this package to your workspace as a source checkout using vcs.

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Installation

Follow Colcon instructions for colcon package installation.

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Example usage

Start the controller:

ros2 launch onrobot_robot_driver onrobot_control.launch.py