The DELTO_M_ROS2 Repository is a comprehensive ROS 2 package designed to support the Delto Gripper-M. This project includes simulations, control interfaces, and visualization tools for the gripper, enabling developers to efficiently develop and test robotic applications.

📌 Supported ROS Distributions

ROS Version	Ubuntu Version	Branch	Build Status
ROS 2	22.04 (Jammy)	humble

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📦 Package Structure

DELTO_M_ROS2/
├─ dg3f_m_driver/        # ros2_control driver/interface for the 3-Finger Gripper
├─ dg3f_m_gz/            # 3F Ignition Gazebo simulation + ros2_control + launch
├─ dg4f_driver/          # ros2_control driver/interface for the 4-Finger Gripper
├─ dg4f_gz/              # 4F Ignition Gazebo simulation + ros2_control + launch
├─ dg5f_driver/          # ros2_control driver/interface for the 5-Finger Gripper
├─ dg5f_gz/              # 5F Ignition Gazebo simulation + ros2_control + launch
├─ dg_description/       # Shared URDF/Xacro, meshes, and RViz configs (3F/4F/5F)
├─ dg_msgs/              # Custom ROS 2 message/service/action definitions
├─ dg_sdk_ros2_bridge/   # Bridge between TESOLLO SDK and ROS 2 (drivers, demos)
└─ dg_isaacsim/          # Isaac Sim integration demo (ROS 2 bridge, sample scenes/launch)

Package	Role	Typical Use
dg3f_m_driver	Hardware driver for the 3F gripper using ros2_control.	Real hardware control (3F)
dg3f_m_gz	Ignition Gazebo package for 3F, including URDF and launch files.	Simulation & testing
dg4f_driver	Hardware driver for the 4F gripper using ros2_control.	Real hardware control (4F)
dg4f_gz	Ignition Gazebo package for 4F.	Simulation & testing
dg5f_driver	Hardware driver for the 5F gripper using ros2_control.	Real hardware control (5F)
dg5f_gz	Ignition Gazebo package for 5F.	Simulation & testing
dg_description	Common URDF/Xacro models, meshes, and RViz configs.	Shared by all grippers
dg_msgs	Custom message, service, and action definitions.	Shared across drivers & bridge
dg_sdk_ros2_bridge	TESOLLO SDK ↔ ROS 2 bridge node and utilities.	SDK-based communication
dg_isaacsim	Isaac Sim integration demo with ROS 2 bridge and launch files.	Full simulation workflow

Usage Tips

• Use *_driver packages for real hardware control.
• Use *_gz packages for Ignition Gazebo simulation.
• dg_msgs centralizes custom interfaces, enabling reusability across all drivers and bridges.
• dg_description keeps URDFs and meshes consistent across hardware and simulation.

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🛠️ Installation and Build Instructions

To install and build the DELTO_M_ROS2 project, follow these steps:

1. Create Workspace and Clone Source Code

   mkdir -p ~/your_ws/src
   cd ~/your_ws/src
   git clone <DELTO_M_ROS2_repository_URL>

2. Install Dependencies

   cd ~/delto_m_ws
   rosdep install --from-paths src --ignore-src -r -y

3. Build Packages

   colcon build

4. Source the Environment

   source install/setup.bash

🎯 Performance Demonstrations

Delto Gripper-3F: Advanced Packaging Solutions

▶️ Click the image to watch the video

Delto Gripper-5F: Paper Cup Removal Demonstration

▶️ Click the image to watch the video

🤝 Contributing

The DELTO_M_ROS2 project is open-source, and contributions are welcome. To contribute:

1. Fork this repository.
2. Create a new branch (git checkout -b feature/my-feature).
3. Commit your changes (git commit -am 'Add my feature').
4. Push to your branch (git push origin feature/my-feature).
5. Open a pull request detailing your modifications.

📄 License

This project is released under the BSD-3-Clause license.

📧 Contact

For additional support or inquiries about this project, please contact TESOLLO SUPPORT.