Improve README setup instructions by sivral · Pull Request #27 · AGH-CEAI/robotiq_hande_driver

sivral · 2025-08-25T11:34:18Z

Description

This PR provides additional instructions for integrating the Robotiq Hand-E gripper into a ROS 2 robot project. It also adds the missing launch arguments and fixes a typo in a variable from ip_adress to ip_address.

Closes Request for Gripper Operation Details With Omron TM5S Arm #20.

Motivation and context

Request in Request for Gripper Operation Details With Omron TM5S Arm #20.

How has this been tested?

Manually, on the Geonosis PC.

Related PRs

Checklist

All TODOs in the code have been resolved or linked to a proper issue.
Code has been (auto)formatted.
Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
All automated checks have passed.

README.md

Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

macmacal

Resolve minor typos/issues wit the readme formatting

slimasziom

LGTM 👍

macmacal

LGTM 🆗

* Initial ros2_control architecture (#1) * updated pre-commit with ruff, cmake & clang formatters * pre-commit fmt * added -Werror compile flag * clang & cmake format config * fmt * Disabled -Werror flag, linked issue#5 * ModbusRTU serial communication with Hand-E (#7) * Feature/serial communication (#2) * ADD: initial communication abstraction * ADD: libmodbus-dev to dependency * ADD: modbus+gripper communication test * CHG: run communication test in .c; fixes included * ADD: full communication layer to modbus * ADD: log folder to gitignore * FIX: initializers * REF: refactor to fit google style * ADD: position and current scaling to application layer * FIX: precommit formatting * FIX: precommit formatting 2 * FIX: precommit formatting 3 * FIX: protocolLogic -> GoTo byte select * ADD: cmakelists update * FIX: modbus read write register swap * FIX: open and close parameters * ADD: how to test in readme * FIX: position '0' is when opened and '255' when closed (calculation) * FIX: position to position raw in application::goto * CHG: function camelcase to snakecase * CHG: changelog * CHG: remove hardcoded values and handle reigsters without iterators * CHG: move write action bit to communication file * CHG: remove hardcoded values from protocol logic * ADD: connection confirmation and remove bit shift in communication * FIX: connection error message * FIX: connection error message result * Apply suggestions from code review CHG: use scoped enums with first element set to 0u Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Apply suggestions from code review CHG: update readme and changelog Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * CHG: class comment in protocol_logic.hpp * CHG: code according to review * CHG: code according to review - position bits, getters * CHG: move most definitions to header files * CHG: constant values in screaming case * CHG: testing split into functions, variable values as const * CHG: comments * CHG: static cast * CHG: pre-commit errors * CHG: add missing casts * ADD: register word length based on bytes in frames * CMake - check for libmodbus --------- Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * CHG: move file directories to fit ros2 control * CHG: update cmakelists and config layer for modbus session * ADD: parametrization * ADD: parameters to test_load_hw_interface * ADD: activation based on is_ready flag * FIX: pre-commit * CHG: initialize cmd and state position to gripper position max * FIX: unify namespace tag * ADD: max iterations for activation * ADD: return config result to hardware layer * FIX: string pointer pass to modbus * FIX: issues just before successful run * CHG: precommit-fixes * Update robotiq_hande_driver/CHANGELOG.md Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update README.md Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/CMakeLists.txt Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/CMakeLists.txt Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * CHG: review suggestions * CHG: return connection status code to hardware info * ADD: modbus failure status code * CHG: activation logic moved to hardware_interface * FIX: wait_100ms declaration * CHG: print modbus config in hardware_interface * CHG: remove obsolete logger_ * ADD: log throttled when activating * CHG: move clock init to on_init * CHG: replace constexpr with static constexpr * ADD: ignore modbus connection check --------- Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * ADD: reconnecting to modbus on configure * CHG: docs * Update robotiq_hande_driver/CHANGELOG.md Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/CHANGELOG.md Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update documentation in communication.hpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * Update robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * FIX: missing iter outside for-loop * CHG: update changelog and docs * updated robotiq_hande_description to v0.1.0-humble * added Krzysztof as an author * CHG: bumb version to 0.1.0 in package.xml * README: connection setup info * fmt * DEL: remove logging from export_state_interface * updated rviz preview * added example commands to readme * preview animation * added citation * ADD: update repo hash * CHG: update changelog * updated citation file * ADD: req btcpp to cmakelists * fix: fix typos in hw_system_gripper_1dof_ * ADD: read write registers in a thread * sorting includes * cleanup * removed comments * communication refactor * removed comments * protocl_logic: moved methods from hpp to cpp * communicaton: more safe initalization/deinitalization * hande_hardware_interface: moved definitions from hpp to cpp * application: minor cpp improvments * fixed issue#5 - enabled -Werror flag * typos * fmt & wip * typos * wip * WIP on multithread * building * wip p2 * building p2 * cleanup * added colours * exception error handling & color logging * added sleep for activation * added param to test * reduced colors * updated docs * improved naming convention * added colors to all ROS logs * hande: changed `tty` to `tty_port` * wip - debug * moved thread to hw interface * fixed bug (finally) * thread todos * typos * added socat manager * socat manager works * calibrated socat wait * cleanup & minor fixes * cleanup * fixed parsing * changed atoms to mutexes * small cleanup * updated changelog * cleanead up headers * changed the consts name * removed unused variables * fixed load_hw_interface tests; added todo * disabled depracted warnings (gmock version) * updated changelog * typo in export_command_interfaces() * updated comments in CMakelists * updated changelog * fmt * Improve README setup instructions (#27) * CHG: bumb version * ADD: Kuba to citation * FIX: pre-commit * CHG: repo tag * updated animation --------- Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> Co-authored-by: tylim2946 <50300906+tylim2946@users.noreply.github.com> Co-authored-by: Jakub <sivral@proton.me>

sivral added 4 commits August 25, 2025 10:54

Add launch arguments and fix typo

76c2eda

Update README

743bc98

Format

1bd53e9

Update changelog

46dee78

sivral requested review from macmacal and slimasziom August 25, 2025 11:39

sivral added the documentation Improvements or additions to documentation label Aug 25, 2025

This was referenced Aug 25, 2025

Fix typo macmacal/robotiq_hande_description#10

Closed

Fix typo ip_adress to socat_ip_address AGH-CEAI/robotiq_hande_description#15

Merged

slimasziom reviewed Aug 25, 2025

View reviewed changes

README.md Outdated Show resolved Hide resolved

README.md Show resolved Hide resolved

README.md Outdated Show resolved Hide resolved

Update README

2dcfb3b

macmacal requested changes Aug 25, 2025

View reviewed changes

README.md Outdated Show resolved Hide resolved

README.md Show resolved Hide resolved

README.md Outdated Show resolved Hide resolved

README.md Outdated Show resolved Hide resolved

README.md Outdated Show resolved Hide resolved

sivral and others added 5 commits August 25, 2025 14:31

Update README

41714a5

Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

Update README

34cbd42

Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

Update README

add5813

Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

Update README

50656fd

Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

Update README

18a46f1

Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>

macmacal mentioned this pull request Aug 25, 2025

Request for Gripper Operation Details With Omron TM5S Arm #20

Closed

Update README

b6a49ad

macmacal reviewed Aug 25, 2025

View reviewed changes

Change names

a7110bb

macmacal changed the title ~~Add instructions~~ Improve README setup instructions Aug 25, 2025

sivral mentioned this pull request Aug 25, 2025

Fix typos from hande_description AGH-CEAI/aegis_ros#52

Merged

4 tasks

Format

2d74cf6

sivral added bug Something isn't working enhancement New feature or request labels Aug 25, 2025

sivral and others added 2 commits August 25, 2025 15:53

Fix typo

268d61e

typo in readme

3717a79

slimasziom approved these changes Aug 25, 2025

View reviewed changes

macmacal approved these changes Aug 25, 2025

View reviewed changes

sivral merged commit 1ebafe3 into humble-devel Aug 25, 2025
1 check passed

sivral deleted the feature/add_instructions branch August 25, 2025 15:39

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Improve README setup instructions#27

Improve README setup instructions#27
sivral merged 15 commits intohumble-develfrom
feature/add_instructions

sivral commented Aug 25, 2025 •

edited

Loading

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

macmacal left a comment

Uh oh!

slimasziom left a comment

Uh oh!

macmacal left a comment

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

Conversation

sivral commented Aug 25, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Description

Motivation and context

How has this been tested?

Related PRs

Checklist

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

macmacal left a comment

Choose a reason for hiding this comment

Uh oh!

slimasziom left a comment

Choose a reason for hiding this comment

Uh oh!

macmacal left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

sivral commented Aug 25, 2025 •

edited

Loading