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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
128 stars 77 forks source link

Gripper Interface #29

Open peterdavidfagan opened 1 year ago

peterdavidfagan commented 1 year ago

Are there plans to support interfacing with the vacuum gripper via ROS and MoveIt. I might be missing something but I didn't find code for this in the existing repository.

@vimior

vimior commented 1 year ago

@peterdavidfagan Thank you for your support, there is no plan to support this function at the moment, we will evaluate this work later.

peterdavidfagan commented 1 year ago

Hi @vimior,

More than happy to support the use of the lite6 especially with MoveIt.

Is there any support for interacting with the vacuum gripper even through the python SDK? I have seen that the studio app provides support.

vimior commented 1 year ago

@peterdavidfagan It can be controlled through the API of the SDK or the service of ROS, but it cannot be controlled through the API of moveit for the time being.

peterdavidfagan commented 1 year ago

Thanks @vimior, I appreciate your quick responses to these questions.

Elmessiry commented 1 week ago

@peterdavidfagan It can be controlled through the API of the SDK or the service of ROS, but it cannot be controlled through the API of moveit for the time being.

Hi, does this mean i cannot use the ros2 api for the vacuum control for the lite6? if you dont mind pointing me to how I can control the vacuum gripper in a python script, for some reason i couldn't manage to do it with the ros2 services either

penglongxiang commented 1 week ago

@Elmessiry, in ros2, you can control the real vacuum gripper, but not in simulation for now. For real hardware control, follow the instruction here to edit the configuration yaml file and enable "get_vacuum_gripper" and "set_vacuum_gripper" services before using them.