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482 - Integrate RobotIQ - #491

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482-integrate-robotiq
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482 - Integrate RobotIQ#491
Jelmerdw wants to merge 17 commits into
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482-integrate-robotiq

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@Jelmerdw

@Jelmerdw Jelmerdw commented Jul 13, 2026 •
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Description

Integration of the RobotIQ 3-finger gripper.

Fixes: #482

  • A controller was written in Python based on https://github.com/baha2r/robotiq3f_py
  • Next, the controller was ported to C++
  • In C++, the libmodbus library is used to communicate over the Modbus protocol
  • in C++, the Glaze + Magic Enum libraries are used to create JSON from the status struct, to easily share the status on a ROS topic as a JSON string.
  • The JSON message can be easily visualized in a terminal using the new print_json node in 'alliander_utilities'

Testing

Tested on hardware.

Documentation

  • I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

@Jelmerdw Jelmerdw changed the title Integrate robotiq Integrate RobotIQ Jul 13, 2026
@Jelmerdw Jelmerdw changed the title Integrate RobotIQ 482 - Integrate RobotIQ Jul 13, 2026
github-advanced-security[bot]
github-advanced-security AI found potential problems Jul 16, 2026
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Comment thread alliander_robotics/alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py Fixed
Comment thread alliander_robotics/alliander_robotiq/alliander_robotiq.Dockerfile Fixed
Jelmerdw added 3 commits July 29, 2026 08:40
@Jelmerdw
Integrate robotiq in simulation.
4ede9ed 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Start using TCP controller.
d406683 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Write robotiq controller based on manual.
a89ccd6 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Jelmerdw force-pushed the 482-integrate-robotiq branch from ac1e244 to a89ccd6 Compare July 29, 2026 06:40
github-advanced-security[bot]
github-advanced-security AI found potential problems Jul 29, 2026
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Comment thread alliander_robotics/alliander_robotiq/alliander_robotiq.Dockerfile
# Install python dependencies:
WORKDIR $WORKDIR
COPY $SRC_DIRECTORY/pyproject.toml /$WORKDIR/pyproject.toml
RUN uv sync --group alliander-robotiq \
Comment thread alliander_robotics/alliander_robotiq/alliander_robotiq.Dockerfile
# Install python dependencies:
WORKDIR $WORKDIR
COPY $SRC_DIRECTORY/pyproject.toml /$WORKDIR/pyproject.toml
RUN uv sync --group alliander-robotiq \
Comment thread alliander_robotics/alliander_robotiq/alliander_robotiq.Dockerfile Fixed
Jelmerdw added 2 commits July 29, 2026 13:24
@Jelmerdw
Add utility node to live print json data from ROS string topic.
0bd9473 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Integrate robotiq in hardware.
2b2de9d 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
github-advanced-security[bot]
github-advanced-security AI found potential problems Jul 29, 2026
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Comment thread alliander_robotics/alliander_robotiq/src/alliander_robotiq/src_py/gripper_controller.py Fixed
Jelmerdw added 5 commits July 30, 2026 06:21
@Jelmerdw
Wait for action to finish.
a8eadd7 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Let simulation and hardware work with same action server.
b2835ce 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Update meshes.
96c7043 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Correct platform type.
33d3d48 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Update documentation.
9f21233 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
rosalievanark
rosalievanark reviewed Jul 30, 2026
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Comment thread docs/content/platforms.md Outdated
rosalievanark
rosalievanark reviewed Jul 30, 2026
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Comment thread alliander_robotics/alliander_robotiq/src/alliander_robotiq/src_py/gripper_controller.py Outdated
import rclpy
from alliander_interfaces.action import StringAction
from mashumaro.mixins.json import DataClassJSONMixin
from pyModbusTCP.client import ModbusClient

@rosalievanark rosalievanark Jul 30, 2026

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This was one of the reasons why this code is written in python and not cpp right?

@alliander-robotics alliander-robotics Jul 30, 2026

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I was also wondering why we couldn't do this in C++, though it is based on Robotiq's own gripper controller of course

alliander-robotics
alliander-robotics reviewed Jul 30, 2026
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Comment thread alliander_robotics/alliander_robotiq/src/alliander_robotiq/launch/controllers.launch.py
Comment thread alliander_robotics/alliander_robotiq/src/alliander_robotiq/src_py/gripper_controller.py Outdated
import rclpy
from alliander_interfaces.action import StringAction
from mashumaro.mixins.json import DataClassJSONMixin
from pyModbusTCP.client import ModbusClient

@alliander-robotics alliander-robotics Jul 30, 2026

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I was also wondering why we couldn't do this in C++, though it is based on Robotiq's own gripper controller of course

Comment thread alliander_robotics/alliander_robotiq/src/alliander_robotiq/src_py/gripper_controller.py Outdated
Comment thread alliander_robotics/alliander_robotiq/alliander_robotiq.Dockerfile Outdated
Jelmerdw and others added 2 commits August 3, 2026 09:26
@Jelmerdw
Merge branch 'main' into 482-integrate-robotiq
48b83f7
@Jelmerdw
Apply feedback.
cfcce82 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
github-advanced-security[bot]
github-advanced-security AI found potential problems Aug 3, 2026
View reviewed changes
Comment thread alliander_robotics/alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py
"""

platform_type: str = "Gripper"
ip_address: str = "192.168.1.11"
Comment thread alliander_robotics/alliander_robotiq/alliander_robotiq.Dockerfile
# Runtime stage
##############################

FROM ${BASE_IMAGE}
Jelmerdw added 3 commits August 3, 2026 14:26
@Jelmerdw
Initiate CPP version.
beb1d78 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Restructure.
a13f896 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Restructure.
aa8d98c 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
github-advanced-security[bot]
github-advanced-security AI found potential problems Aug 6, 2026
View reviewed changes
Comment thread alliander_robotics/alliander_core/alliander_core.Dockerfile Outdated
RUN pip install uv --break-system-packages

# Upgrade CMake:
RUN pip install --upgrade cmake --break-system-packages
Comment thread alliander_robotics/alliander_core/alliander_core.Dockerfile Fixed
Jelmerdw added 2 commits August 6, 2026 10:03
@Jelmerdw
Pin cmake on 3.31.6
9253501 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw
Remove unused files.
7e9355f 
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@sonarqubecloud

sonarqubecloud Bot commented Aug 6, 2026

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Quality Gate Failed Quality Gate failed

Failed conditions
C Security Rating on New Code (required ≥ A)

See analysis details on SonarQube Cloud

Catch issues before they fail your Quality Gate with our IDE extension SonarQube for IDE

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@rosalievanark rosalievanark rosalievanark left review comments
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Integrate Robotiq 3-Finger Gripper

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@Jelmerdw @rosalievanark @github-advanced-security @alliander-robotics