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add dh_gripper
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‎dh_gripper_ros/README.md

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# Gripper controller
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### Description
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This is the control interface for the gripper.
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------
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------
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### Installation
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1. Make sure you have already installed and Configured Your [ROS](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment) Environment
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2. Create and build a [catkin workspace](http://wiki.ros.org/catkin/workspaces): (you can skip this step , if you have already created it)
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```
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$ mkdir -p ~/catkin_ws/src
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$ cd ~/catkin_ws/
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$ catkin_make
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```
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4. Clone the whole directory( `dh_gripper_driver_ros` ) to your catkin's workspace src folder
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5. Compile the code
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```
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$ cd ~/catkin_ws/
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$ catkin_make
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```
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6. Add the path including to the `ROS_PACKAGE_PATH` environment variable. Open `~/.bashrc` file and add at the end the following line.
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```
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$ source ~/catkin_ws/devel/setup.bash
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```
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------
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### Instructions
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1. ##### Connect all hardware and Turn on the power
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2. ##### Modify launch file and Running controller
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First , Modify the `dh_gripper.launch` file in according to the product model
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```
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//gripperID default 1
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<arg name="GripperID" default="1"/>
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//gripper Model
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<arg name="GripperModel" default="PGE"/>
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//grippper USB Port Name
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<arg name="Connectport" default="/dev/ttyUSB0"/>
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//gripper Baudrate defalut : 115200
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<arg name="Baudrate" default="115200"/>
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```
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Now , you can running controller
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```
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$ roslaunch dh_gripper_driver dh_gripper.launch
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```
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> If If it runs successfully , you will see the initialization of the gripper,and then auto close and open
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3. ##### Disable test run ,and use topic
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Modify the `dh_gripper.launch` file, and roslaunch `dh_gripper.launch`
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```
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<arg name="test_run" default="false"/>
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```
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use topic to control
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```
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$rostopic pub /gripper/ctrl dh_gripper_msgs/GripperCtrl "initialize: false
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position: 0.0
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force: 100.0
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speed: 100.0"
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```
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4. ##### Study how to use it
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you can read the ` dh_gripper_Test.cpp` in `/dh_hand_driver/src` folder to study
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5. ##### Enjoy it
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### gazebo7
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$ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
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```
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$ catkin_make
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‎dh_gripper_ros/ROS调试常见问题.pdf

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‎dh_gripper_ros/dh_gripper_driver/.vscode/settings.json

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{
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"files.associations": {
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"array": "cpp",
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"string": "cpp"
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}
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}

‎dh_gripper_ros/dh_gripper_driver/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(dh_gripper_driver)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
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# Check C++11 or C++0x support
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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add_definitions(-DCOMPILEDWITHC11)
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message(STATUS "Using flag -std=c++11.")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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add_definitions(-DCOMPILEDWITHC0X)
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message(STATUS "Using flag -std=c++0x.")
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else()
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message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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## System dependencies are found with CMake's conventions
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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dh_gripper_msgs
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sensor_msgs
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)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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CATKIN_DEPENDS
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roscpp
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rospy
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std_msgs
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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${catkin_INCLUDE_DIRS}
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include
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include/dh_gripper_driver/include
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/dh_gripper_driver.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/dh_gripper_driver_node.cpp)
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add_executable(dh_gripper_driver
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include/dh_gripper_driver/src/dh_device.cpp
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include/dh_gripper_driver/src/dh_ag95_can.cpp
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include/dh_gripper_driver/src/dh_dh3_can.cpp
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include/dh_gripper_driver/src/dh_lagacy_gripper.cpp
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include/dh_gripper_driver/src/dh_modbus_gripper.cpp
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include/dh_gripper_driver/src/dh_rgi.cpp
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src/dh_gripper_driver.cpp)
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add_executable(dh_gripper_driver_test
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src/dh_gripper_Test.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_dh_gripper_driver.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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target_link_libraries(dh_gripper_driver
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${catkin_LIBRARIES})
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target_link_libraries(dh_gripper_driver_test
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${catkin_LIBRARIES})
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎dh_gripper_ros/dh_gripper_driver/build/.cmake/api/v1/query/client-integration-vscode/cache-v2

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