rr_grippers_ros

ROS interface for Rapyuta supported grippers and sensors

Structure

• rr_hw_interface: This package have interface class and class for handle libsoc gpio, revolutional pi and etc. ROS packages in the grippers and sensors directory are use this interface and access the hardware.
  • external: external driver repositories.
• grippers: have packages for controlling grippers
  • rr_suction_pump: tested schumaltz fxp series and vg10 gripper
• sensors: have packages for controlling sensors
  • rr_analog_sensors: general ROS driver for analog input
  • vl53lox_ros_driver: vl53lox

Prerequisites

gitsubmodules under rr_hw_interface/external

• libsoc
• librevpi
• mcp23017_libsoc

Setup

1. git clone and submodule setting

cd <path to catkin_ws>/src
git clone --recursive [email protected]:rapyuta-robotics/rr_grippers_ros.git
cd rr_grippeprs_ros

2. external pacage setup

cd rr_hw_interface/external
./install_all.sh

3. ros workspace build

cd <path to catkin_ws>/src
catkin build

Todo

• Permission handling.Some procesure require root access.
• Update rr_hw_interface/external/install_all.sh