# Gripper Customizations

AMAS sends the Gripper control command message could be found at [GripperControl.msg](https://github.com/Extend-Robotics/extend_msgs/blob/master/msg/GripperControl.msg)

This message could be used by accessing the rostopic (Requires ROS install),

* `extend_gripper_command`

The data received could be then used to send the command to the robot/gripper for control.

For using the Rostopic method on the Cortex hardware provided by ER

* Please install the ROS melodic/noetic

If you are using another linux machine with ROS melodic installed to access the data from the Cortex (in the same network) follow these steps:

* ssh into the Robokit
* On the Robokit, in the `.bashrc` put in the following command\
  `export ROS_IP=<IP of the`` ``Cortex>`
* reboot the RoboKit
* On the another Linux machine go to the `.bashrc` and add following

  ```
  export ROS_MASTER_URI=http://<Cortex_IP>:11311
  export ROS_IP=<Linux_Machine_IP>
  ```
* Save the `.bashrc` with the changes and source `.bashrc` using the following command

  `source ~/.bashrc`

After sourcing the `.bashrc` you would have access to the Topics and Services running on the Cortex.