Merge pull request #13 from AGH-CEAI/humble-release

Pull v0.1.0-humble release to devel

Author: macmacal

CITATION.cff

@@ -0,0 +1,15 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+  - family-names: Aleksandrowicz
+    given-names: Maciej
+    orcid: https://orcid.org/0000-0003-3388-5653
+  - family-names: Klimek
+    given-names: Krzysztof
+    orcid: https://orcid.org/0009-0004-6749-1833
+title: "Robotiq Hand-E ROS 2 Driver"
+version: 0.1.0
+identifiers:
+  - type: doi
+    value: 10.5281/zenodo.15047950
+date-released: 2025-03-18

README.md

@@ -1,28 +1,69 @@
 # robotiq_hande_driver
-[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+[![DOI](https://zenodo.org/badge/898628878.svg)](https://doi.org/10.5281/zenodo.15047949)
 
-Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) from the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework. It uses the [robotiq_hande_description](https://github.com/macmacal/robotiq_hande_description) package for the URDF definitions.
+Package for controlling the [Robotiq Hand-E gripper](https://robotiq.com/products/adaptive-grippers#Hand-E) using the [ROS 2 Control](https://control.ros.org/humble/doc/getting_started/getting_started.html) framework. It uses the [robotiq_hande_description](https://github.com/AGH-CEAI/robotiq_hande_description) package for URDF definitions. Originally developed for integration with Universal Robots e-Series (UR5e) and ROS 2 Humble, it is possible to modify this repository to fit your needs. **PRs are welcome!**
 
-Work is still in progress.
 
+![Control preview](docs/gripper_control.webp)
 
 ---
 
-## Quick start
+## Quick Start
+
+### Connection Setup
+
+#### Without Physical Hardware
+* You are ready to go - just remember to pass the `use_fake_hardware:=true` argument.
+
+#### Modbus RTU
+* Connect the serial port to your system and locate the TTY device (typically `/dev/ttyX`).
+* You will need to configure the serial connection in your `.xacro.urdf` file ([example](https://github.com/AGH-CEAI/robotiq_hande_description/blob/humble/urdf/robotiq_hande_gripper.urdf.xacro) in `robotiq_hande_description`).
 
-### Setup
+#### Modbus TCP
+* You can create a local `TCP` <-> `Virtual Serial Port` server with the `socat` command.
+  * An example usage (in the form of a Python ROS 2 wrapper) can be found in `ur_robot_driver`'s [scripts/tool_communication.py](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/204e215c8a7371f6357e6a09f7e106364e566931/ur_robot_driver/scripts/tool_communication.py#L64).
+  * Example: `socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.1.2:54321`
+* For the UR's `ur_robot_driver`, the default path to the virtual serial port is `/tmp/ttyUR`.
+
+
+### Package setup
 ```bash
 cd ~/ceai_ws/src
 git clone git@github.com:AGH-CEAI/robotiq_hande_driver.git ./src
 vcs import src < src/robotiq_hande_driver/robotiq_hande_driver.repos &&
 colcon build --symlink-install --packages-select robotiq_hande_driver
 source ./install/local_setup.sh
 ```
+> [!NOTE]
+> **Configuration is split between two packages:**
+> * `robotiq_hande_description`: Hardware connection parameters are set in the URDF file. [Example config file](https://github.com/AGH-CEAI/robotiq_hande_description/blob/humble/urdf/robotiq_hande_gripper.urdf.xacro).
+> * `robotiq_hande_driver`: The controller configuration is set by launch parameters for the `controller_node`. [Example config file](robotiq_hande_driver/bringup/config/hande_controller.yaml).
+
 
 ### Launch preview
 ```bash
 ros2 launch robotiq_hande_driver gripper_controller_preview.launch.py use_fake_hardware:=true
+# In other terminal
+ros2 action send_goal /gripper_action_controller/gripper_cmd control_msgs/action/GripperCommand \
+"command:
+  position: 0.0
+  max_effort: 0.0
+"
+```
+
+### Examples
+**An example integration usage can be find** in the [AGH-CEAI/aegis_ros](https://github.com/AGH-CEAI/aegis_ros) repository.
+
+---
+## Development notes
+
+This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the `pre-commit`. Please make sure to enable its hooks:
+
+```bash
+pre-commit install
 ```
 
 ### Test Serial Connection
@@ -36,15 +77,6 @@ cd cd ~/ceai_ws/src/robotiq_hande_driver/build/robotiq_hande_driver/
 ./communication_test
 ```
 
----
-## Development notes
-
-This project uses various tools for aiding the quality of the source code. Currently most of them are executed by the `pre-commit`. Please make sure to enable its hooks:
-
-```bash
-pre-commit install
-```
-
 ---
 ## License
 This repository is licensed under the Apache 2.0, see LICENSE for details.

docs/gripper_control.webp

@@ -7,6 +7,15 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Added
+### Changed
+### Deprecated
+### Removed
+### Fixed
+### Security
+
+## [0.1.0] - 2025-03-13
+
 ### Added
 
 * [PR-11](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/11) - Added automatic reconnection to Modbus during configuration.
@@ -15,14 +24,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * [PR-2](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/2) - Protocol abstraction
 * [PR-1](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/1) - Prepared ros2_control Hardware Interface.
 
-### Changed
-
-### Deprecated
-
-### Removed
-
 ### Fixed
 
 * [PR-11](https://github.com/AGH-CEAI/robotiq_hande_driver/pull/11) - Fixed an issue where the Modbus connection check always failed.
-
-### Security

robotiq_hande_driver/CHANGELOG.md

@@ -8,7 +8,7 @@ Panels:
         - /Status1
         - /RobotModel1
       Splitter Ratio: 0.5
-    Tree Height: 2233
+    Tree Height: 1148
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -148,7 +148,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 0.5352108478546143
+      Distance: 0.4812188446521759
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -163,18 +163,38 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.46039843559265137
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 4.508580684661865
-    Saved: ~
+      Pitch: 0.7853981852531433
+      Target Frame: tool0
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 0.7853981852531433
+    Saved:
+      - Class: rviz_default_plugins/Orbit
+        Distance: 0.6214086413383484
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Focal Point:
+          X: 0
+          Y: 0
+          Z: 0
+        Focal Shape Fixed Size: false
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.7853981852531433
+        Target Frame: tool0
+        Value: Orbit (rviz_default_plugins)
+        Yaw: 0.7853981852531433
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 2531
+  Height: 1371
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ac00000944fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000944000000cb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000944fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003e00000944000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003efc0100000002fb0000000800540069006d00650100000000000005a00000027900fffffffb0000000800540069006d00650100000000000004500000000000000000000003ee0000094400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ac00000505fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000505000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000505fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000505000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003efc0100000002fb0000000800540069006d00650000000000000005a00000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003ee0000050500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -184,5 +204,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1440
-  X: 0
-  Y: 0
+  X: 835
+  Y: 32

robotiq_hande_driver/bringup/config/rviz_preview.rviz

@@ -125,7 +125,6 @@ std::vector<HWI::StateInterface> RobotiqHandeHardwareInterface::export_state_int
         hardware_interface::HW_IF_VELOCITY,
         &state_velocity_));
 
-    RCLCPP_INFO(get_logger(), "export_state_interfaces()");
     return state_interfaces;
 }
 

robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_hande_driver</name>
-  <version>0.0.0</version>
+  <version>0.1.0</version>
   <description>The driver of the Robotiq Hand-E gripper for the ros2_control framework.</description>
   <maintainer email="ceai@agh.edu.pl">AGH Center of Excellence in Artificial Intelligence</maintainer>
   <license>Apache-2.0</license>
@@ -12,6 +12,7 @@
   <url type="bugtracker">https://github.com/AGH-CEAI/robotiq_hande_driver/issues</url>
 
   <author email="macal@agh.edu.pl">Maciej Aleksandrowicz</author>
+  <author email="kklimek@agh.edu.pl">Krzysztof Klimek</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

robotiq_hande_driver/package.xml

@@ -1,5 +1,5 @@
 repositories:
   robotiq_hande_description:
     type: git
-    url: https://github.com/macmacal/robotiq_hande_description
-    version: 4d6999f97b4fd471fcd30983aba5572c2e383b1f
+    url: https://github.com/AGH-CEAI/robotiq_hande_description
+    version: 2190af7c85569fc9a85f4b78096edd433c0dbad1