Looking for feedback on design on ROS2 control interface for Robotiq 3F Gripper!

PeterMitrano
Sat, 16 Dec 2023 20:39:11 +0000
Projects

Hello! I’m somewhat new to ros2 control and I’m working on a repo for the robotiq 3f gripper:

github.com

GitHub - PeterMitrano/ros2_robotiq_3f_gripper at robotiq_3f

robotiq_3f

ROS2 driver for the Robotiq 3F gripper. Contribute to PeterMitrano/ros2_robotiq_3f_gripper development by creating an account on GitHub.

I would love to get some feedback from others with more experience, and I have an initial question: How to deal with “modes” in ros2 control?

The gripper can be commanded in either “simple” or “individual” control modes, and each mode has different inputs. There simple mode needs a single position, speed, and force, as well as a discrete “grasp mode” input. The individual mode needs 4 sets of position/speed/force.

So I’m not sure how that should be exposed by the hardware interface?
Also I’m not sure if I should have one controller for each mode, and if that means I need to write custom controllers, or …?

8 posts - 4 participants