Merge pull request #4 from AGH-CEAI/humble-devel

Sync development from AGH-CEAI

Author: macmacal

.pre-commit-config.yaml

@@ -19,7 +19,7 @@ repos:
       - id: check-yaml
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.4.1
     hooks:
       - id: codespell
         args: [-L, hande, -w]

CHANGELOG.md

@@ -0,0 +1,29 @@
+# Changelog
+
+All notable changes to the `robotiq_hande_driver` package will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+### Added
+### Changed
+### Deprecated
+### Removed
+### Fixed
+### Security
+
+## [0.1.0] - 2025-03-13
+
+### Added
+
+* [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU.
+
+### Changed
+
+* [PR-3](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) & [PR-4](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) - Changed the coupler model and simplified URDF files by editing the models.
+
+### Fixed
+
+* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.

README.md

@@ -4,10 +4,12 @@
 
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
 
-This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper) dedicated for Universal Robots e-series.
+This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper). It was originally developed for integration with Universal Robots e-series (UR5e), however it is be possible to change the coupler model to fit your needs. **PRs are welcome!**
+
 
 - The gripper comes with coupler model (but without flange).
 - This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
+  - These CAD models are taken from the official [Robotiq Support page](https://robotiq.com/support).
 - Package has been developed and tested in ROS 2 Humble.
 - The definitions for the `ros2_control` framework are available in the [robotiq_hande_gripper.ros2_control.xacro](./urdf/robotiq_hande_gripper.ros2_control.xacro) file.
 
@@ -17,22 +19,40 @@ This package contains meshes and URDF description of [Robotiq Hand-E gripper](ht
 
 ![hande_model](docs/hande_rviz.gif)
 
-*(Errata: The minus width range in the animation above is outdated)*
 
 ## Usage
 
-In your URDF (Xacro) file include the Hand-E definition. Provide a parent link (for instance `tool0`) as the parameter:
+In your URDF (Xacro) file include the Hand-E definition. Provide a unique name and the parent link (for instance `tool0`) as the parameters:
 
 ```xml
 <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
 <!-- ... -->
-<xacro:robotiq_hande_gripper parent="PARENT_LINK" prefix="" />
+<xacro:robotiq_hande_gripper name="robotiq_hande_gripper" parent="PARENT_LINK" prefix="" />
 ```
 
-An example usage can be find in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file.
+For estabilishg a connection with [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver) there is also need to provide more parameters:
+```xml
+<xacro:robotiq_hande_gripper
+    name="robotiq_hande_gripper"
+    prefix=""
+    parent="tool0"
+    grip_pos_min="0.0"
+    grip_pos_max="0.025"
+    tty="/tmp/ttyUR"
+    baudrate="115200"
+    parity="N"
+    data_bits="8"
+    stop_bit="1"
+    slave_id="9"
+    use_fake_hardware="false"
+  />
+```
 
 > [!NOTE]
-> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the second macro parameter.
+> The TF frame of the end tip of the gripper is called `${prefix}hande_end`, where `${prefix}` evaluates as the `prefix` macro parameter.
+
+### Examples
+**An example usage can be find** in the [urdf/hande_preview.urdf.xacro](./urdf/robotiq_hande_gripper.urdf.xacro) file. Furthermore, an integration with whole ROS 2 project example can be find in the [AGH-CEAI/aegis_ros](https://github.com/AGH-CEAI/aegis_ros) repository.
 
 
 ## Preview