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kbogert / UR3e_RG2_ER5

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RG2 gripper usage with URe series #1

Open janisa9 opened 4 years ago

janisa9 commented 4 years ago

I am curios if this package is working with URe series real robot. Could you provide guidelines how to run RG2 gripper using your package?

wfarlessyost commented 4 years ago

Thank you for your question. Yes, this should work with a physical URe series robot. Running RG2Grip.py (rosrun UR3e_RG2_ER5_gripper_control RG2Grip) will start a node that receives gripper width values (0-110), which can be passed over/gripper_controller/command topic, and uses these as input to an RG2 hardware script, which it publishes to /ur_hardware_interface/script_command.

We are currently working on a new gripper controller based on follow joint trajectory, but because of our current circumstances we have not been able to test on the physical UR3e robot.

janisa9 commented 4 years ago

Thank you! After some playing with the script I did manage to use gripper with real UR5e. Is there also implemented feedback from gripper?

In any case I have access to physical robot now and RG2 gripper, if you need I can test the controller.

StefanNa commented 2 years ago

I have a working moveit environment for my UR3e with the RG2 gripper and only want to add the gripper control. After adding your files to my workspace I can run rosrun UR3e_RG2_ER5_gripper_control RG2Grip and publish with rostopic pub /gripper_controller/command std_msgs/Float64 20 but nothing happens. What am I missing? @janisa9 maybe you can let me know how you edited the script?

dcross23 commented 1 year ago

Thank you! After some playing with the script I did manage to use gripper with real UR5e. Is there also implemented feedback from gripper?

In any case I have access to physical robot now and RG2 gripper, if you need I can test the controller.

@janisa9 Can you explain to me how can i run it on a real robot? I have UR3e and RG2 gripper, but im not getting how to run it in a real robot