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Grasp service

rolling jazzy iron humble

Simple ros2 grasp service. The job of the service is to follow sequence of points, then close the gripper and stop and then back to home positions and open gripper.

Configuration

Configuration is straightforward and example is available in the open_manipulator_bringup package in the config folder. Simple configuration looks like this

grasp_service:
  ros__parameters:
    joints_controller_name: joint_trajectory_controller
    joints_names:
      - joint1
      - joint2
      - joint3
      - joint4

    positions_to_target_list:
      - first_pos
      - second_pos

    positions_to_target:
      first_pos:
        positions: [0.50, 0.0, 0.0, 0.0]
        time_to_target: 2
      second_pos:
        positions: [-0.50, 0.0, 0.0, 0.0]
        time_to_target: 4

    positions_to_home_list:
      - first_pos

    positions_to_home:
      first_pos:
        positions: [0.50, 0.0, 0.0, 0.0]
        time_to_target: 2

    time_to_wait_on_target: 5

    gripper_controller_name: gripper_action_controller
    gripper_close: -0.01
    gripper_open: 0.019

Demo

To launch demo just build (and source) repo and use following commands:

ros2 launch manipulator_simulation manipulator_simulation_bringup.launch.py

And to trigger grasp_service just call:

ros2 service call grasp_service std_srvs/srv/Empty

Setup

You can clone it and run in docker devcontainer or use native setup. Docker container is setup with all dependencies.

To setup with docker devcontainer:

./build.sh &&
source install/setup.bash

To setup it without docker:

mkdir -p ~/ros_ws/ && cd ~/ros_ws/src
git clone https://github.com/Wiktor-99/ros2_grasp_service.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
./build.sh
. install/setup.bash