search

ros-industrial-attic / robotiq

Robotiq packages (http://wiki.ros.org/robotiq)
BSD 2-Clause "Simplified" License
241 stars 382 forks source link

Controlling grippers using Modbus #183

Open RaduCorcodel opened 3 years ago

RaduCorcodel commented 3 years ago

Hello,

Are there any implementations of a control node using Modbus. We have two grippers, one Hand-E that we control with the UNI-CTR-001-MTCP external controller (Modbus/TCP) and a 3-Finger adaptive gripper also with a Modbus interface. Thank you.

Regards, Radu

bitmeal commented 3 years ago

Look here: https://github.com/bitmeal/ros-modbus-device-driver It's a generic Modbus/TCP device driver that exposes your coils and registers over ROS topics.

  1. Define your controller (or gripper as seen through the controller) as per the specification
  2. 🚀 access/use the exposed data/functions over standard ROS topics