Delto Gripper

This is Delto Gripper ROS 2 package.

Some of the new features are enabled by ROS2 and include decreased latency, improved security, and more flexibility regarding middleware configuration.

Check also Delto 3F Gripper

Check also Delto 2F Gripper

Build Status

ROS Distro	ROS2 (22.04)
Branch	Humble

⚠️ Notice: DG3FB (Firmware v2.3 or higher)

The DG3FB (Delto 3F Gripper B type) with firmware version 2.3 or higher uses a different communication protocol and is not compatible with this repository.

For DG3FB (firmware 2.3+), please use DELTO_M_ROS2 and refer to the example script dg3fb.py.

The new SDK and ROS2 bridge are supported.

Packages in the Repository:

• delto_3f_description - URDF, mesh file

• delto_3f_driver - Delto Gripper 3F ROS2 driver

• delto_3f_moveit - example MoveIt configuration for Delto Gripper.

• delto_2f_driver - Delto Gripper 2F ROS2 driver

Some physical measurements (like PID Gain, inertia) may not be accurate. Adjustments may be necessary for a perfect simulation or operation.

Getting Started

1. ROS2 Install

• Check this ROS 2 Humble installation site.

2. Gazebo Ign Install

• Check this Gazebo installation site.

sudo apt-get install ros-humble-ros-gz

3. Moveit Install

sudo apt install ros-humble-moveit

4. ROS2 Control Install

sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

5. Create a new ROS2 workspace:

cd your_ros2_ws/src
git clone https://github.com/Tesollo-Delto/DELTO_ROS2
colcon build 

How to use Delto Gripper

Launch the driver with your gripper's IP and port:

ros2 launch delto_3f_driver delto_3f_bringup.launch.py delto_ip:=169.254.186.72 delto_port:=10000

ROS2 Topics

Published Topics (Gripper → ROS2)

Topic	Type	Description
gripper/joint_states	sensor_msgs/JointState	Current joint positions (12 joints)
gripper/electric_current	std_msgs/Int16MultiArray	Motor electric current for each joint (12 values)
gripper/response/gain	std_msgs/Int16MultiArray	PID gain response
gripper/response/grasp_mode	std_msgs/Int32	Current grasp mode response

Subscribed Topics (ROS2 → Gripper)

Topic	Type	Description
gripper/target_joint	std_msgs/Float32MultiArray	Target joint positions (12 values)
gripper/grasp	std_msgs/Bool	Enable/disable grasp mode
gripper/grasp_mode	std_msgs/Int32	Set grasp mode (1-6)
gripper/fixed_joint	std_msgs/Int16MultiArray	Set fixed joint positions
gripper/write_register	std_msgs/Int16MultiArray	Write raw Modbus register [address, value]
gripper/request/gain	std_msgs/Int16MultiArray	Request PID gain values

Pose Teaching Topics

Topic	Type	Description
gripper/save_current_pose	std_msgs/Int32	Save current gripper position to slot (1-30)
gripper/save_target_pose	std_msgs/Int32	Save target position to slot (1-30)
gripper/load_pose	std_msgs/Int32	Load and move to saved pose (1-30)

Control Topics

Topic	Type	Description
gripper/set_free	std_msgs/Bool	Enable/disable free mode (hand teaching)
gripper/rom_write	std_msgs/Bool	Write settings to EEPROM
gripper/moving_average_filter	std_msgs/Bool	Enable/disable moving average filter
gripper/set_step	std_msgs/Int32	Set motion step value
gripper/set_grasp_torque	std_msgs/Int32	Set grasp torque (0-200) [0.1 N]
gripper/set_io_low_torque	std_msgs/Int32	Set IO low torque threshold
gripper/set_io_high_torque	std_msgs/Int32	Set IO high torque threshold
gripper/set_coil	std_msgs/Int16MultiArray	Generic coil control [address, value(0/1)]

Network Configuration Topics

Topic	Type	Description
gripper/set_ip	std_msgs/String	Set gripper IP address (e.g., "192.168.1.100")
gripper/set_subnet_mask	std_msgs/String	Set subnet mask (e.g., "255.255.255.0")
gripper/set_gateway	std_msgs/String	Set gateway address

Action Server

Action	Type	Description
delto_controller/follow_joint_trajectory	control_msgs/FollowJointTrajectory	Joint trajectory action for MoveIt integration

Example: Pose Teaching Workflow

# Terminal 1: Start the driver
ros2 launch delto_3f_driver delto_3f_bringup.launch.py

# Terminal 2: Enable free mode for hand teaching
ros2 topic pub --once /gripper/set_free std_msgs/Bool "data: true"

# Move the gripper by hand to desired position...

# Save current position to slot 1
ros2 topic pub --once /gripper/save_current_pose std_msgs/Int32 "data: 1"

# Disable free mode
ros2 topic pub --once /gripper/set_free std_msgs/Bool "data: false"

# Write to EEPROM (persistent storage)
ros2 topic pub --once /gripper/rom_write std_msgs/Bool "data: true"

# Later, load the saved pose
ros2 topic pub --once /gripper/load_pose std_msgs/Int32 "data: 1"

• Check this Delto Driver

How to Connect Delto Gripper with Robot Arm

Connecting Gripper URDF file with robot arm

make new joint (robot_arm_end_link - gripper_base_link)

**example Delto with robot-arm (Universal Robot)

...

</joint>
  <joint name="ee_joint" type="fixed">
    <origin rpy="0 1.57 0" xyz="0 0 0"/>
    <parent link="wrist_3_link"/>
    <child link="delto_base_link"/>
    <!-- <axis xyz="0.0 1.0 0.0"/> -->
 </joint>
 
 ...
  

visualizing delto gripper

ros2 launch delto_description dg3f_display.launch.py

ros2 launch delto_description dg2f_display.launch.py

ros2 launch delto_3f_driver delto_3f_bringup.launch.py delto_ip:=192.168.0.100 delto_port:=502

Feature Requests and Bug Reports

If you have any feature requests, modification suggestions, or encounter any bugs, please create an issue on GitHub or contact the maintainer at support@tesollo.com.