Standalone 2FG7 launch
Standalone 2FG7 launch exposes serial_port, slave_id, baudrate and use_mock_hardware and forwards them to the Python driver. Unlike the CMS integrated branch, it uses the driver’s correct mock-parameter name.
src.end_effectors.onrobot_2fg7_driver.launch.2fg7_driver.launch · Source
Tools and end effectors · Guide · Symbol index
How it is used
ROS launch calls generate_launch_description() to start the Python 2FG7 driver with serial-port, slave-ID, baud-rate, and mock-hardware parameters. The driver then owns the connection, action server, and joint-state publisher.
This standalone definition forwards the driver’s use_mock_hardware parameter. The CMS integrated branch currently uses a different parameter name; inspect that branch separately when diagnosing its mock behavior.
Start here
Callable |
Purpose |
|---|---|
Construct four launch arguments and an onrobot_2fg7_driver_node action receiving their values. |
Functions
generate_launch_description()
Construct four launch arguments and an onrobot_2fg7_driver_node action receiving their values.
Entry point · Source
generate_launch_description()
Returns: LaunchDescription with serial_port=/tmp/ttyUR, slave_id=65, baudrate=1000000 and use_mock_hardware=false defaults plus one driver node.
Errors: Launch construction/parameter conversion errors propagate; port/device presence is deferred to the driver.
Side effects: Creates launch objects; execution starts ROS gripper control and may open serial hardware.