hand-e

ROS2 Humble Hawksbill package for Robotq Hand-E gripper.

Dependency (tested as a host machine)

• Ubuntu 22.04 PC
  • NVIDIA GeForce RTX 3070
  • NVIDIA Driver 470.256.02
  • Docker 26.1.1
  • Docker Compose 2.27.0
  • NVIDIA Docker 2.13.0

Installation

git clone [email protected]:takuya-ki/hand-e.git --recursive --depth 1 && cd hand-e && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel 

Usage

1. Build and run the docker environment
   • Create and start docker containers in the initially opened terminal

     docker compose up

   • Execute the container in another terminal

     xhost + && docker exec -it hande_humble_container bash

2. Build program files with the revised yaml

   cd /ros2_ws && colcon build --symlink-install --parallel-workers 1 && source install/setup.bash

3. Run a planning process in the container
   • Use byobu to easily command several commands

     byobu

     • First command & F2 to create a new window & Second command ...
     • Ctrl + F6 to close the selected window
   • Display the robot's (visual and collision) models

     ros2 launch hande_tutorials display.launch.py

     • Robot Visual
       
     • Robot Collision
       
   • Run the hand closing and opening demo

     ros2 launch hande_tutorials demo.launch.py

Contributors

We always welcome collaborators!

Author / Contributor

Takuya Kiyokawa