Can not connect gripper by USB

[james2254]

When I run rosrun robotiq_c_model_control CModelRtuNode.py,there is a misstake.What should I do?

[shaun-edwards]

@james2254, looks like the node is expecting command line arguments.

[james2254]

@shaun-edwards I download the package and run the node by the ROS wiki .Change the node or other
method, which can solve this issue ? thank you !

[carlosjoserg]

Hi @james2254 , don't know if you solved the issue.

After you connect the gripper, check with lsusb it connected, you should see something like:

Bus 001 Device 008: ID 0403:6015 Future Technology Devices International, Ltd Bridge(I2C/SPI/UART/FIFO)

Then check with dmesg | grep tty what port it connected to. You should see something like:

[ 6416.940532] usb 1-2: FTDI USB Serial Device converter now attached to ttyUSB0

If that all goes well, then you also need to create a modbus config file (at least for me, it didn't work until I did this), you can run this bash script to do so:

# configuration of virtual port com FT X series
FTDI_CONF_FILE='/etc/modprobe.d/ftdi_sio.conf'
FTDI_CONF_OPTION='options ftdi_sio product=0x6015 vendor=0x0403'
FTDI_CONF_ALIAS='alias usb:v0403p6015d*dc*dsc*dp*ic*isc*ip* ftdi_sio'
if [ -f $FTDI_CONF_FILE ]; then
        MSG="FTDI conf file already exists."
        echo $MSG
else
        MSG="FTDI conf file does not exist. Creating it."
        echo $MSG

        echo "# This file allows the ftdi_sio driver to use FT X series." > $FTDI_CONF_FILE
        echo $FTDI_CONF_OPTION >> $FTDI_CONF_FILE
        echo $FTDI_CONF_ALIAS >> $FTDI_CONF_FILE

        #reload the module for the changes to have effect
        modprobe -r ftdi_sio
        modprobe ftdi_sio
fi

If all that went well, then you can run in one terminal (it does not print anything):

rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB0

And in another terminal:

rosrun robotiq_c_model_control CModelSimpleController.py

to get a simple menu to activate and move the gripper using the USB adaptor... the rest is up to you.

Cheers :beers:

[james2254]

@carlosjoserg Thank you very much! I have not sloved it and I will try it recently.

[wuguangbin1230]

＠james2254 How did you solve the problems mentioned above? I also could not the robotiq gripper by USB

[wuguangbin1230]

@james2254 How did you solve the problems mentioned above? I also could not the robotiq gripper by USB

[newuhe]

@carlosjoserg I followed your instructions mentioned above, but I still receives Unable to connect to /dev/ttyUSB0 though I can get Bus 001 Device 024: ID 0403:6015 Future Technology Devices International, Ltd Bridge(I2C/SPI/UART/FIFO)

[carlosjoserg]

@newuhe

• Check that the gripper connected to the port that you use when calling rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB0

• I have tested with the 2F-85mm, but I've also receive positive feedback with the 2F-140mm, both new models. Don't know about the old molde, and I don't think it'd work with the 3-fingers model.

[newuhe]

I've sloved the problem, which arise from my socket version.

[yamunamaccarana]

@newuhe I think I have exactly the same problems that you had. How did you manage to solve them? Thanks

[yamunamaccarana]

@newuhe here you say that you found other useful packages. Can you please specify which package you used?

[jproberge]

Please make sure to provide the device path as line argument, as well as to make sure your user is in the dialout group, as mentioned here : http://wiki.ros.org/robotiq