Motors and Gripper

The motor controllers are connected to the Raspberry Pi 4 (4GB RAM), which has Ubuntu 20.04 installed. The motor controllers are controlled using the ROS2 Foxy framework. Optionally one can enable the servo-driven gripper as well.

Usage

In the first terminal to start the motors, run:

cd motors/
source install/setup.bash
ros2 launch trunk_motors launch_motors.py

To start the gripper, in a another terminal, run:

cd gripper/
source install/setup.bash
ros2 run servo_control servo_control_node