Forked from: https://github.com/nalt/wsg50-ros-pkg
This repository introduces a complete redesign of the WSG-50 gripper driver to align with ROS 2 standards, ensuring better integration, improved robustness, and modernized communication mechanisms.
Follow the steps below to set up packages.
Clone the prl repository into your ROS 2 workspace:
cd ~/ws/src
git clone [email protected]:inria-paris-robotics-lab/wsg50-ros-pkg.gitAfter you had installed all dependencies you can build every packages with 'colcon':
cd ~/ws
colcon build --symlink-install Note: The following instructions are intended for standalone usage of the gripper.
Below are instructions for standalone use of the WSG-50 gripper:
To visualize the URDF file of the WSG-50 gripper, use the following command:
ros2 launch wsg_50_simulation view_wsg50.launch.pyTo simulate the WSG-50 gripper in a standalone environment, use:
ros2 launch wsg_50_simulation wsg_50.launch.pyTo connect and control a real WSG-50 gripper, launch the ROS 2 node driver:
ros2 launch wsg_50_driver wsg_50_driver.launch.py ip:=<gripper_ip> port:=<gripper_port>The following parameters are declared in the driver and can be customized as needed to match your gripper's configuration:
ip: The IP address of the gripper. Default:"192.168.1.20".port: The port number used to communicate with the gripper. Default:1000.local_port: The local port on the host machine for outgoing communication. Default:1501.protocol: The communication protocol. Default:"tcp".rate: The update rate in Hz for communication with the gripper. Default:100.0.
Warning: If the rate is too low, the driver may not function properly.grasping_force: The maximum force (in Newtons) applied when grasping an object. Default:5.0.finger_sensors: Enables or disables the gripper's finger sensors. Default:false.
Ensure these parameters are correctly set to optimize the gripper's performance and compatibility with your setup.
To visualize and control the gripper using ROS 2 Control, launch the following:
ros2 launch wsg_50_driver wsg_50_control.launch.pyA new hardware interface (WSG50HardwareInterface) has been implemented, enabling seamless integration with ROS 2 Control. Key features include:
- State Interfaces: Publish real-time gripper data (position, speed, force).
- Command Interfaces: Allow asynchronous control of the gripper's target position.
- on_init: Initializes the gripper using parameters from the URDF.
- on_activate: Connects and configures the gripper for use.
- export_state_interfaces: Exposes state variables (position, speed, force) to ROS 2 Control.
- export_command_interfaces: Exposes command variables (target position).
- write: Sends commands to the gripper, determining the mode (
grasporrelease) based on the target position.
ip: Gripper's IP address.port: Gripper's port.protocol: Communication protocol.rate: Update rate in Hz.grasping_force: Force limit for grasping.
/state: Gripper state (position, speed, force)./joint_states: Standard joint state message./moving: Indicates if the gripper is in motion.
set_force,set_acc: Adjust force or acceleration.homing,do_tare,stop,ack: Configuration and error recovery.
The action server /gripper_cmd is the primary interface for controlling the WSG-50 gripper. It supports the following commands:
- Move: Moves the gripper to a specified position.
- Grasp: Grasps an object with a specified force.
- Release: Releases the object and opens the gripper.
The action server uses a custom action definition with the following structure:
-
Goal:
mode(int): Command mode: 0: Move, 1: Grasp, 2: Releaseposition(float): Target position for the gripper in millimeters.speed(float): Speed of movement in millimeters per second.
-
Feedback:
position(float): Current position of the gripper.
-
Result:
result(bool): Indicates whether the command was successfully executed.
Below is an example configuration for integrating the WSG-50 gripper with ROS 2 Control in a URDF file:
<hardware>
<plugin>wsg_50_interface::WSG50HardwareInterface</plugin>
<param name="gripper_name">wsg</param>
<param name="ip_address">192.168.1.20</param>
<param name="port">1000</param>
<param name="protocol">tcp</param>
<param name="local_port">1501</param>
<param name="rate">100.0</param>
<param name="grasping_force">10.0</param>
<param name="speed">20.</param>
<param name="finger_sensors">true</param>
</hardware>
<joint name="${prefix}_width_joint">
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>plugin: Specifies the hardware interface plugin to use. In this case, it’s theWSG50HardwareInterface, which provides the necessary functionality to control the WSG-50 gripper.gripper_name: A user-defined name for the gripper. This is used to identify the gripper in the system.ip_address: The IP address of the WSG-50 gripper. This is used to establish a connection with the gripper over the network.port: The port number on the gripper to which the system connects. The default port for the WSG-50 is typically1000.protocol: Specifies the communication protocol. The WSG-50 gripper usesTCP(Transmission Control Protocol) for reliable communication.local_port: The local port on the host machine used for the connection. This is optional and can be used to specify a fixed port for outgoing communication.rate: The update rate in Hz for communication with the gripper. This determines how frequently the system sends commands and receives feedback.grasping_force: The maximum force (in Newtons) that the gripper will apply when grasping an object. This helps prevent damage to delicate objects.speed: The speed (in mm/s) at which the gripper moves. This controls how quickly the gripper opens or closes.finger_sensors: A boolean value indicating whether the gripper’s finger sensors are enabled. These sensors can provide more precise effort feedback.