gelsight_wedge_controller

ROS control interface with Dynamixel library to control the Gelsight Wedge Gripper

Quick start

1. Add dependency ROS packages

• DynamixelSDK
• Dynamixel interface

2. Update config in config/controller_cfg.yaml to match your gripper open/close encoder count params
3. Build + source
4. Run roslaunch gelsight_wedge_controller gripper.launch
5. In another tab,

• Close:

rostopic pub /desired_joint_states sensor_msgs/JointState '{name: ['gripper_joint'], position: [2.2],velocity: [-0.5]}' --once

• Open:

rostopic pub /desired_joint_states sensor_msgs/JointState '{name: ['gripper_joint'], position: [0],velocity: [0.5]}' --once