Tesollo Delto Gripper

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.

cd ~/ros2-essentials/delto_gripper_ws/docker
docker compose pull # or docker compose build
xhost +local:docker
docker compose up -d

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:

• Tesollo-Delto/DELTO_M_ROS2 (at commit 942c166) is licensed under the BSD-3-Clause license.