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UniversalRobots / Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series
BSD 3-Clause "New" or "Revised" License
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tool communication question #202

Closed GewoonMidas closed 2 years ago

GewoonMidas commented 3 years ago

Hello,

I want to set up my UR5e with the Robotiq 2f-85 gripper. In the ur_robot_driver directory there is a script to activate tool communication, the documentation mentions that i have to provide a flag to activate the tool communication. If i look at the UR5e launch file it seems there is no flag for tool communication. The feature list says it is possible to use it, is it nor possible anymore to use? If it is possible to use could someone explain to me how to active the tool communication?

Thanks in advance

urrsk commented 3 years ago

You are very welcome to help us testing it.

As mentioned in ur_robot_driver/doc/features.md. This should be possible, but has not been tested yet. To use it, you have to install the Universal_Robots_ToolComm_Forwarder_URCap

GewoonMidas commented 3 years ago

You are very welcome to help us testing it.

As mentioned in ur_robot_driver/doc/features.md. This should be possible, but has not been tested yet. To use it, you have to install the Universal_Robots_ToolComm_Forwarder_URCap

I am happy to test it. One question: the link that you have provided mentions that the ur5e.launch.py file receives a parameter use_tool_communication, if i look into the file ur5e.launch.py or ur_control.launch.py none of has that parameter to be set. Do i need to launch the tool cummunication in a different way that is mentioned in the installation guide?

urrsk commented 3 years ago

I believe that you are referring to this document: ur_robot_driver/doc/setup_tool_communication.md

Yes, I can see that something is missing, at least in the launch files. I can see that the "use_tool_communication" argument is addressed in the ur_robot_driver/src/hardware_interface.cpp!

@nbbrooks, maybe you can help answer this question?

destogl commented 3 years ago

@livanov93 is it possible to activate this later using GPIO/Status controller?

gavanderhoorn commented 3 years ago

This functionality is disconnected from anything ROS (at least it is in the ROS 1 version).

It relies on socat being available on the ROS pc. That just needs to be started somehow (probably as part of the launch file). There doesn't seem to be a dependency on any ros2_control controller?

livanov93 commented 3 years ago

@GewoonMidas You can find the parameter here and change it. Currently the #218 is addressing this issue.