Controlling-Robot-Gripper-using-ROS

• Controlling a two fingered robot gripper using 2 dynamixel RX-24F motors and Potentiometers to calculate the stiffness of the object.

For controlling dynamixel RX-24f

• Download the dynamixel_sdk package for ROS which has all the libraries to work with.(http://wiki.ros.org/dynamixel_sdk)
• Download and copy my code to the DynamxelSDK/ROS/dynamixel_sdk_examples/src
• For cpp files required changes are to be made in the cmakelist and the package.xml files.

For reading potentiometer through phidget_22

• Download the phidget ROS package (http://wiki.ros.org/phidgets)
• Download and copy the my potentiometer reading code in phidgets_drivers/phidgets_ik/src
• For cpp files required changes are to be made in the cmakelist and the package.xml files.