Closed JafarAbdi closed 11 months ago
I'm just waiting for this request to be merged.
I'm just waiting for this request to be merged.
I'll fix the conflicts and try to get this working this week
thank you gripper works with gen3
by adding
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
<xacro:macro name="robotiq_gripper" params="
name
prefix
parent
*origin
sim_ignition:=false
sim_isaac:=false
use_fake_hardware:=false
fake_sensor_commands:=false
include_ros2_control:=true
com_port:=/dev/ttyUSB0">
<!-- ros2 control include -->
<xacro:include filename="$(find robotiq_description)/urdf/2f_140.ros2_control.xacro" />
<!-- if we are simulating or directly communicating with the gripper we need a ros2 control instance -->
<xacro:if value="${include_ros2_control}">
<xacro:robotiq_gripper_ros2_control
name="${name}" prefix="${prefix}"
sim_ignition="${sim_ignition}"
sim_isaac="${sim_isaac}"
use_fake_hardware="${use_fake_hardware}"
fake_sensor_commands="${fake_sensor_commands}"
com_port="${com_port}"/>
</xacro:if>
<xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro" />
<xacro:robotiq_arg2f_140 parent="${parent}" prefix="${prefix}"/>
</xacro:macro>
</robot>
to a new file robotiq_2f_140_macro.urdf.xacro and renaming gripper and finger_joint in gen3's launch file
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Copied from git@github.com:ros-industrial/robotiq.git with small modifications to have the same structure as the codebase here
TODOs: