With ROS 2¶

The msg_gripper_ros2 package is a ROS 2 Humble driver for the gripper, built on the Python library and a python-can adapter. It was developed by the UCLA Biomechatronics Lab and Ben Forbes, and is MIT licensed.

What it offers¶

Direction	Topic or action	Type
Command	`/gripper/command_joint_states`	`sensor_msgs/JointState`, the position as the gripper's own units, 0 to 255
Feedback	`/gripper/feedback_joint_states`	`sensor_msgs/JointState`, the position in the same units and the effort in mA
Action	`/gripper_command`	`control_msgs/GripperCommand`

Installing¶

Ubuntu 22.04 with ROS 2 Humble, Python 3.10 or newer, and a USB-to-CAN adapter that speaks slcan, such as the CANvas:

pip install Spectral_BLDC python-can
cd ~/ros2_ws/src
git clone https://github.com/Source-Robotics/source_robotics_msg_gripper_ros2.git
cd ~/ros2_ws
colcon build --packages-select msg_gripper_ros2
source install/setup.bash

On Linux, add yourself to the dialout group to open the adapter's port without sudo, and log in again.

Running¶

ros2 launch msg_gripper_ros2 msg_gripper_launch.py

The only setting that depends on your machine is the adapter's port, channel in config/default.yaml: /dev/ttyACM0 or /dev/ttyUSB0 on Linux, /dev/tty.usbmodem* on macOS, COM3 on Windows. Copy the file, change it, and pass it at launch:

ros2 launch msg_gripper_ros2 msg_gripper_launch.py config_file:=~/my_gripper.yaml node_name:=my_gripper namespace:=robot

The package's README has the rest: the parameters, the node names, and the platforms it was tested on.

The SSG-48 package¶

The ssg48_adaptive_electric_gripper_ros2 package, written for the SSG-48 gripper, speaks the same protocol and should work with the MSG as well.

The description files¶

The gripper's standalone URDF and MJCF (MuJoCo) packages, with solid or soft TPU jaws, come from robot_descriptions; the product repository's msg_description guide links the downloads and says how to open them. Its display launch file is for ROS 1; in ROS 2, load the URDF with a launch file of your own.

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