dh_ag95_gripper_ros2/README.md

# DH AG95 Gripper ROS2 Driver

**Important:** This is a dependency: https://github.com/ian-chuang/serial-ros2

This repository contains a ROS2 driver for controlling the DH Robotics AG95 Gripper. It builds upon the low-level code from [DH Robotics' ROS1 driver](https://github.com/DH-Robotics/dh_gripper_ros) and integrates it with ros2_control, following the structure of [ros2_robotiq_gripper](https://github.com/PickNikRobotics/ros2_robotiq_gripper).

**Note:** This driver has been tested on Ubuntu 22.04 and ROS2 Humble.

## Installation

1. Source ROS2 Humble:
   ```bash
   source /opt/ros/humble/setup.bash
   ```

2. Clone the repository into your ROS2 workspace:
   ```bash
   cd /path/to/your_ros2_ws/src
   git clone -b humble https://github.com/ian-chuang/dh_ag95_gripper_ros2.git
   ```

3. Install dependencies using rosdep:
   ```bash
   rosdep install -i --from-path . --rosdistro humble -y
   ```

4. Build the package:
   ```bash
   colcon build
   ```

5. Source the setup files:
   ```bash
   source /path/to/your_ros2_ws/install/local_setup.bash
   ```

## Configuration

1. Find the port that the gripper is currently binding to, e.g., `ttyUSB0`.
2. Run the following command to obtain the serial number:
   ```bash
   udevadm info --name=/dev/ttyUSB0 --attribute-walk | grep serial
   ```
   Use the first serial number that shows up; the format should look similar to `FT6S4DSP`.

3. Edit the udev rules file:
   ```bash
   sudo nano /etc/udev/rules.d/99-dh-ag95-gripper.rules
   ```
   Add the following line, replacing `<serial number here>` with your sensor's serial number:
   ```bash
   SUBSYSTEM=="tty", ATTRS{serial}=="<serial number here>", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1", SYMLINK+="robot/dh_ag95_gripper"
   ```

4. Apply the changes:
   ```bash
   sudo udevadm control --reload && sudo udevadm trigger
   ```

## Usage

Launch the driver with the following command:
```bash
ros2 launch dh_gripper_driver dh_ag95_control.launch.py com_port:=/dev/robot/dh_ag95_gripper
```

To command the gripper to close, open another terminal and run this command:
```bash
ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "{data: [0.93]}"
```

Similarly, to open the gripper, use:
```bash
ros2 topic pub /forward_position_controller/commands std_msgs/msg/Float64MultiArray "{data: [0]}"
```

To view the URDF, use:
```bash
ros2 launch dh_ag95_description view_dh_ag95.launch.py
```