Modbus

RS485 / Modbus RTU hardware interface plugins for 夹爪, 灵巧手, and KWR75.

Repository: fiveages-sim/modbus-ros2-control · README §4

Plugins: ModbusHardware, DexterousHandHardware, InspireHandHardware, FreedomRS485Hardware, XHand1RS485Hardware, TheoHandModbusHardware, Kwr75ForceTorqueSensor.

Default Startup only except the tool-scale rows with on_set_parameters. How to read Startup only / Runtime: Hardware Interfaces.

modbus_ros2_control/ModbusHardware

夹爪: changingtek (variants 90c / 90d) or jodell.

All rows in this table are Startup only.

Parameter	Type / default	Meaning
gripper_type	string / "changingtek"	changingtek or jodell
variant	string / "90c"	Changingtek 90c / 90d
serial_port	string / "/dev/ttyUSB0"	USB-RS485
slave_id	int / 1 (Jodell source default 0x09)	Modbus slave
baudrate	uint / 115200	Serial baud rate
parity / data_bits / stop_bits	source (not in README §4)	Serial format; README: 8N1
response_timeout_ms / byte_timeout_ms	source	Transaction timeouts

modbus_ros2_control/DexterousHandHardware

LinkerHand O6/L6/O7 over Modbus. hand_type containing INSPIRE / RH56 is rejected.

Parameter	Type / default	When	Meaning
serial_port	string / "/dev/ttyUSB0" (README: required)	Startup only	Serial port
hand_side	string / "right"	Startup only	Left 0x28, right 0x27
hand_type	string / "simple_dexterous_hand"	Startup only	Distinguishes O6 / L6 / O7
response_timeout_ms	int / 20	Startup only	Response timeout (ms)
byte_timeout_ms	int / 5	Startup only	Inter-byte timeout (ms)
left_tool_torque / right_tool_torque	double / 1.0	Runtime	Side-matched [0,1]
left_tool_velocity / right_tool_velocity	double / 1.0	Runtime	Side-matched [0,1]

modbus_ros2_control/InspireHandHardware

README §4 plus on_init extras.

All rows in this table are Startup only.

Parameter	Type / default	Meaning
serial_port	string / "/dev/ttyUSB0"	Serial port
hand_side	string / "left"	With slave_id:=auto: left 2, right 1
slave_id	string / "auto"	Modbus slave id
baudrate	int / 115200	Serial baud rate
read_feedback	bool / true	Read device feedback
background_period_ms	int (source; not in README §4)	IO period
command_deadband_raw	int (source)	Command deadband
default_speed / default_force	int (source)	Default speed; Default force

modbus_ros2_control/FreedomRS485Hardware

All rows in this table are Startup only.

Parameter	Type / default	Meaning
protocol_version	string / "auto"	freedomv1 / freedomv2
serial_port	string / "/dev/ttyUSB0"	Serial port
hand_side	string	Left or right
baudrate	int / 115200 (source)	Serial baud rate
slave_id	"auto" (source)	Modbus slave id
command_speed	int / 100	Command speed
current_limit	int (source)	Current limit
command_deadband_deg	(source)	Command deadband (deg)
feedback_timeout_ms / background_period_ms / read_feedback	source	Feedback timeout (ms); Read device feedback

modbus_ros2_control/XHand1RS485Hardware

Parameter	Type / default	When	Meaning
serial_port	string / "/dev/ttyUSB0"	Startup only	Serial port
baudrate	int / 3000000	Startup only	Serial baud rate
hand_id / host_id	int / 0 / 0xFE	Startup only	Device id; Host id
kp / ki / kd	int / 100 / 0 / 0	Startup only	Per-frame
torque_limit	int / 300	Startup only	Base torque cap
tool_torque	double / 0.8	Runtime	Ratio [0,1]
tool_velocity	double / 0.0	Runtime	≤0 unlimited; (0,1] scaled
control_mode / command_deadband_rad / feedback_timeout_ms / read_feedback / require_initial_feedback	source	Startup only	Feedback timeout (ms); Read device feedback

modbus_ros2_control/TheoHandModbusHardware

All rows in this table are Startup only.

Parameter	Type / default	Meaning
serial_port	string / "/dev/ttyUSB0"	Serial port
baudrate	int / 115200	Serial baud rate
slave_id	int / left 2, right 1	Modbus slave id
read_feedback	bool / true	Read device feedback
background_period_ms / command_deadband_raw / command_settle_ms / feedback_quiet_after_write_ms	source	Command deadband

modbus_ros2_control/Kwr75ForceTorqueSensor

SensorInterface. README §4 default baudrate is 115200 (matches source).

All rows in this table are Startup only.

Parameter	Type / default	Meaning
serial_port	string / "/dev/ttyUSB0"	Serial port
baudrate	int / 115200	Serial baud rate
command_code	int / 72 (0x48)	Start-stream command
convert_to_si	bool / true	Kg→N
response_timeout_ms	int / 50	Response timeout (ms)
startup_delay_ms	int / 50	Startup delay (ms)
warmup_attempts	int / 20	Warmup attempts
wrench_topic / frame_id	string / "" / "ft_sensor" (source)	Optional WrenchStamped
gravity	double / 9.80665 (source)	Gravity (m/s²)
read_timeout_ms	int / 3 (source)	Read timeout (ms)
max_read_failures	int / 3 (source)	Max consecutive read failures