ROS 2 Hardware Interface for the PincOpen Gripper

Many robotic grippers exist, each designed to meet specific criteria. For research applications, the PincOpen gripper provides an open-source, cost-effective option. This paper presents the assembly, performance testing, and validation of the PincOpen gripper, along with the development of a ROS 2 package, pinc_open_driver, which provides both a ros2_control-based hardware interface and a URDF model that enables seamless integration of the gripper with any ROS-based robotic system. The gripper's functionality is demonstrated on two robotic platforms: a HEBI Robotics X-Series SCARA arm and a Universal Robots UR-3e arm. The pinc_open_driver package is released as open source project.