update readme

README.md

@@ -1 +1,78 @@
-# dh_ag95_gripper_ros2
+# DH AG95 Gripper ROS2 Driver
+
+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
+```

dh_gripper_driver/launch/dh_ag95_control.launch.py

@@ -16,7 +16,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "com_port",
-            default_value="/dev/ttyUSB0",
+            default_value="/dev/robot/dh_ag95_gripper",
             description="COM port of the gripper.",
         )
     )