ROS 2 Kortex Driver

The ROS 2 Kortex driver implements the ros2_control hardware interface for a SystemInterface.

Command interfaces

This driver exports commands interfaces for position, velocity, and effort interfaces for each joint defined in the URDF. Additionally, twist interfaces are exported for the end effector for operational space control. Several additional interfaces are exported, including set_gripper_max_velocity, set_gripper_max_effort for the gripper joint, reset_fault/command, and reset_fault/async_success for fault management.

State interfaces

This driver exports position and velocity state interfaces for joint defined in the URDF.

Additionally, one state interface reset_fault/internal_fault is used for determining the robot’s fault state.

Changelog for package kortex_driver

0.2.2 (2023-08-09)

• cxx: remove unused-but-set-parameter (#164)
• Contributors: Alex Moriarty

0.2.1 (2023-07-26)

• Change kortex_api header and library install locations (#156) This commit does several two main things: 1) kortex_api now only installs the header files and they now do not pollute include

  2) kortex_driver gets the binary libKortexApiCpp.a itself kortex_driver gets the headers from kortex_api this avoids protobuf errors because those header files and the libKortexApiCpp.a were generated using non-system protobuf kortex_api cannot install the libKortexApiCpp.a because CMake does not allow installing library which was IMPORTED This should fix the debian packages which are currently released

• fix missing dependencies (#152) This fixes missing dependencies which were available from source build but were missing from released binary
• Contributors: Alex Moriarty

0.2.0 (2023-07-17)

• Initial Public ROS 2 release of kortex_driver
• cxx: fixup compiler warnings (#148)
• Make Gripper velocity and force configurable through URDF (#137)
• Fix License -> BSD and update maintainers (#146)
• Contributors: Alex Moriarty, Anthony Baker, Denis Štogl

0.1.0 (2021-09-12)

• Merged in pr-fix_precommit (pull request #8) clang and pre-commit fixes Approved-by: Andy Zelenak
• clang and pre-commit fixes
• Merged in pr-ci_setup (pull request #3) Add CI and pre-commit and apply relevant formatting fixes
  • Add CI, pre commit and clang-format
  • pre-commit fixes

  * Add pre-commit docs Approved-by: Andy Zelenak

• port robot_description to ros2
• Contributors: Vatan Aksoy Tezer, marqrazz