running the package in real gripper

[hoab02]

I cloned your package to test on my RG2-FT gripper, I can run the simulation but failed to control the real gripper, I checked out your moveit_config file and found kinematics.yaml and ros_controllers.yaml is empty, is that the reason? How can I run the package to control my gripper? Thanks.

[ian-chuang]

I defined the controllers for moveit here

Did you test whether you can control the gripper with the publisher-subscriber interface?

If you run this: roslaunch onrobot_rg2ft_control onrobot_rg2ft_control.launch ip:=<gripper_ip defaults to 192.168.1.1> port:=<port defaults to 502>

You should see two topics, one that you publish RG2FTCommand msg, and another that you can read RG2FTState msg.

Try rostopic echo and rostopic pub to see if you can control the gripper that way.

Next see if you can use the action server. All it does is publish and subscribe to the topics.

Then try moveit, which just interfaces the action server.

[MynhLoveBunCha]

I defined the controllers for moveit here

Did you test whether you can control the gripper with the publisher-subscriber interface?

If you run this: roslaunch onrobot_rg2ft_control onrobot_rg2ft_control.launch ip:=<gripper_ip defaults to 192.168.1.1> port:=<port defaults to 502>

You should see two topics, one that you publish RG2FTCommand msg, and another that you can read RG2FTState msg.

Try rostopic echo and rostopic pub to see if you can control the gripper that way.

Next see if you can use the action server. All it does is publish and subscribe to the topics.

Then try moveit, which just interfaces the action server.

After I tried to run your command which controlled the gripper with pub-sub interface, I encountered this error. I could still ping the gripper using this command "ping 192.168.1.1" Therefore, I suspected that my port was incorrect. How do I find the correct port? Thank you!

[ian-chuang]

The port should be fixed to 502 here:

Sorry it's hard to debug since I've only tested this on my gripper. For my setup, I have a network switch that connects the PC, OnRobot compute box, and UR5e. Then the compute box has a wire that connects directly to the port on the gripper itself.

The latest version of the repo should work though since I've been using it for my setup.

I'll test it again in the lab tomorrow and let you know

[ian-chuang]

Hello,

Did you two get it working? Sorry I forgot about our conversation. I just tested this repo again today and it works for me.