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ros-industrial / robotiq

Robotiq packages (http://wiki.ros.org/robotiq)
BSD 2-Clause "Simplified" License
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ros_control implementation #120

Closed philwall3 closed 6 years ago

philwall3 commented 6 years ago

Hi, does anyone already have ros_control implemented for their real robotiq Gripper. I'm trying to do this now and I'm a bit lost on how to do it.

Thanks!

jproberge commented 6 years ago

Hello @philwall3

I'm aware your message was written months ago, but in the meantime, Robotiq's maintainer of their ros packages has changed. So, do you still have any problem using a Robotiq gripper with ros?

philwall3 commented 6 years ago

Hi @jproberge
I've managed to use the ros_control implementation from Carlos J. Rosales (https://github.com/beta-robots/robotiq). This is my project: https://github.com/philwall3/UR5-with-Robotiq-Gripper-and-Kinect

Danfoa commented 6 years ago

Hello @philwall3, thank you very much for the link to your project, we are facing the same issue and will be working based on what you did, I have two question:

  1. Actually I do not see where do you use any of the Betha-Robotics repo, as far as I notice you are using the robotiq_modbus_rtu and robotiq_c_model_control repos from the ros-industrial/robotiq repository to establish a connection.

  2. And secondly would you consider creating a tutorial on the wiki.ros.org/robotiq/Tutorials page?, there is actually one half done that tries to address the instructions for Modbus RTU communication, but it is incomplete, and since you already have the experience, I don't think it will take you too much time to do it (just a suggestion).

philwall3 commented 6 years ago

  1. I'm only using the ros_control implementation from Beta-Robots. It's instantiated here: https://github.com/philwall3/UR5-with-Robotiq-Gripper-and-Kinect/blob/master/myrobot2/myrobot2_driver/launch/myrobot2_bringup_ros_control.launch#L45

  2. Since the ros_control implementation is done by @carlosjoserg and I'm just using it, I can't really help with that. Sorry.