ModbusRTU serial communication with Hand-E#7
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slimasziom merged 40 commits intohumble-develfrom Feb 26, 2025
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* 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>
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Need to run pre-commit on genosis and fix issue with modbus connection initialization (condition whether or not it was successful). The rest is ready. |
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If there is any missing feature (for instance, force command) please create an adequate issue.
robotiq_hande_driver/hardware/include/robotiq_hande_driver/protocol_logic.hpp
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This was referenced Feb 21, 2025
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
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* 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 --------- Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
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* 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>
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* Humble release v0.1.0 (#12) * 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 --------- Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com> * CHG: bumb version * ADD: Kuba to citation * FIX: pre-commit * CHG: repo tag * updated animation * CHG: docs --------- Co-authored-by: Maciej Aleksandrowicz <mac.aleksandrowicz@gmail.com>
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Description
Hand-E gripper serial port communication functionalities integrated with ros2_control hardware interface.
Motivation and context
We need to have a flexible modbusRTU session for handling Hande-E gripper functionalities according to ros2 control package.
How has this been tested?
Related PRs
Checklist
Clickup task: 869619b4u