onrobot_rg2_rg6_ros2

ROS 2 Jazzy Driver for OnRobot RG2/RG6 gripper

Requirements

• Python 3.7.3
  • pymodbus==2.5.3

Installation of ROS 2 driver

Installing pymodbus module

sudo apt install -y python3-pip

pip install pymodbus==2.5.3

Building ROS 2 workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

git clone https://github.com/runtimerobotics/onrobot_rg2_ros2.git

cd ~/ros2_ws
colcon build

echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

Usage

1. Connect the cable between Compute Box and Tool Changer.
2. Connect an ethernet cable between Compute Box and your computer.
3. Execute a demo script as below

ros2 launch onrobot_rg2_ros2 bringup.launch.py

Publish topics to control the gripper

This will open the gripper to the maximum

ros2 topic pub /send_gripper_cmd std_msgs/msg/Int32 "{data: 1100}" --once

This will close the gripper

ros2 topic pub /send_gripper_cmd std_msgs/msg/Int32 "{data: 0}" --once

We can publish any value from 0 -> 1100

Reference

• OnRobot RG GitHub Repository