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 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Control of an SOFTmatics Gripper (ROS Noetic)
Description: This tutorial assumes that you have a SOFTmatics Gripper. The Gripper should be connected to a network, which has been properly configured.Tutorial Level: BEGINNER
Contents
Prerequisites
This tutorial assumes that you have a SOFTmatics Gripper. The Gripper should be connected to a network, which has been properly configured.
To be able to send signals for opening and closing the solenoid valve, the sketch.ino have to be uploaded to the Arduino board beforehand.
$ roslaunch roslaunch softmatics_device trigger.launch
ROS Service to execute Grasp/Release of SOFTmatics Gripper
Run the SOFTmatics Gripper Driver Node
The Gripper is driven by the node "trigger.py" contained in the package "softmatics_device".
For example, the driver for controlling a SOFTmatics Gripper is launched using the following command:
$ roslaunch roslaunch softmatics_device trigger.launch
Then, you call the service "/softmatics_device/toggle" to turn on/off air supply as below.
$ rosservice call /softmatics_device/toggle
