EZGripper

Install the EZGripper ROS Driver

1. Install dependencies:

   $ sudo apt-get install python-serial ros-indigo-joystick-drivers

2. Download code:

   $ cd ~/catkin_ws/src $ git clone https://github.com/SAKErobotics/EZGripper.git $ cd .. $ catkin_make

3. Setup parameters in joy.launch file

• ~port - serial device to use
• ~baud - baud rate
• servo_ids - the servo(s) id controlled as a group of grippers, for example [9,10,11]

4. Launch the node

   $ roslaunch ezgripper_driver joy.launch

Action API

The driver provides an implementation of the SimpleActionServer, that takes in control_msgs/GripperCommand actions. A sample client (nodes/client.py) is included that provides joystick control using the action API.