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Tesollo Delto Gripper

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This repository will help you configure the environment for Delto Gripper quickly.

🐳 Start Container

Make sure your system meets the system requirements and have followed the setup instructions before using this workspace.

Run the following commands in a Ubuntu desktop environment. If you are using a remote server, make sure you're using a terminal within a remote desktop session (e.g., VNC) instead of SSH (i.e., don't use ssh -X or ssh -Y).

cd ~/ros2-essentials/delto_gripper_ws/docker
docker compose build
xhost +local:docker
docker compose up -d
# The initial build will take a while, please wait patiently.

If your user's UID is 1000, you may replace the docker compose build command with docker compose pull.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-delto-gripper-ws bash

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

Once you have finished testing, you can stop and remove the container with:

docker compose down

Testing

Launch the Isaacsim

~/isaacsim/isaac-sim.sh

After the Isaacsim is launched, open the delto gripper usd file and play the simulation.
It is located at: delto_gripper_ws/src/DELTO_M_ROS2/dg_isaacsim/dg5f_right/dg5f_right.usd

Launch the Delto Gripper Demo

ros2 launch dg5f_isaacsim dg5f_right_isaacsim.launch.py

References

Dependencies: