vortex-gripper

Introduction

This repository contains the ROS 2 package that takes joystick values and converts them to PWM values which is sent to the gripper servos over I2C. The mapping is:

• Left stick vertical controls gripper shoulder
• Left stick horizontal controls gripper arm
• Right stick horizontal controls grip

Setup

The ROS 2 node can be started with

ros2 launch gripper_interface gripper_interface.launch.py

Joystick is started with

ros2 run joy joy_node