LZ Gripper ROS2 Package

lz_gripper_ros2 is the ROS2 driver interface for Lingzhang dexterous hands. It provides low-level communication and high-level control topics.

Features

• Modbus RTU based low-level communication
• High-level control topics for position, velocity, and effort
• Real-time status publishing through ROS2 topics
• Configurable startup parameters (serial port and baud rate)

Requirements

• ROS2 Jazzy (or newer)
• serial_driver

Start the Driver

ros2 launch lz_gripper_ros2 lz_gripper.launch.py

Main Topics

Subscribed

• /finger_positions (std_msgs/Float32MultiArray)
• /gripper_command (std_msgs/Bool)
• /write_register (std_msgs/Float32MultiArray)

Published

• /lv_gripper_states (sensor_msgs/JointState)
• /gripper_state (std_msgs/Bool)

For full details and examples, refer to the Chinese documentation version.