Gripper Customizations
API documentation for Custom Gripper Customizations
AMAS sends the Gripper control command message could be found here:
The message structure :
gripperAnalog
have values ranging from 0 to 1
When 0 corresponds to open and 1 corresponds to close in the digital twin (AMAS VR App)
This message could be used by accessing the rostopic (Requires ROS install),
extend_gripper_command
Alternate way (Does not requires ROS install) for access by running following command:
extend-robokit-xarm.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 RoboKit hardware provided by ER
Please install the ROS melodic
If you are using another linux machine with ROS melodic installed to access the data from the Robokit (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 RoboKit)reboot the RoboKit
On the another Linux machine go to the
.bashrc
and add followingSave the
.bashrc
with the changes and source.bashrc
using the following commandsource ~/.bashrc
After sourcing the .bashrc
you would have access to the Topics and Services running on the Robokit.