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"""@package docstring
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ROS node for controling a Robotiq 2F gripper using the Modbus RTU protocol.
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The script takes as an argument the IP address of the gripper. It initializes a baseRobotiq2FGripper object and adds a comModbusTcp client to it. It then loops forever, reading the gripper status and updating its command. The gripper status is published on the 'Robotiq2FGripperRobotInput' topic using the 'Robotiq2FGripper_robot_input' msg type. The node subscribes to the 'Robotiq2FGripperRobotOutput' topic for new commands using the 'Robotiq2FGripper_robot_output' msg type. Examples are provided to control the gripper (Robotiq2FGripperSimpleController.py) and interpreting its status (Robotiq2FGripperStatusListener.py).
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import roslib; roslib.load_manifest('robotiq_2f_gripper_control')
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roslib.load_manifest('robotiq_modbus_rtu')
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Module comModbusRtu: defines a class which communicates with Robotiq Grippers using the Modbus RTU protocol.
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The module depends on pymodbus (http://code.google.com/p/pymodbus/) for the Modbus RTU client.
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"""@package docstring
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Module baseRobotiq2FGripper: defines a base class for handling command and status of the Robotiq 2F gripper.
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After being instanciated, a 'client' member must be added to the object. This client depends on the communication protocol used by the Gripper. As an example, the ROS node 'Robotiq2FGripperTcpNode.py' instanciate a robotiqbaseRobotiq2FGripper and adds a client defined in the module comModbusTcp.
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from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_input as inputMsg
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from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_output as outputMsg
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