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
The ROS 2 node can be started with
ros2 launch gripper_interface gripper_interface.launch.pyJoystick is started with
ros2 run joy joy_node