davidmartinez13 / robotiq

Robotiq packages including novel method to control the 3f gripper in gazebo. The original can be found here: http://wiki.ros.org/robotiq

Robotiq

Status

As of 2021-05-28, it would appear this repository is unmaintained.

Robotiq is not maintaining the packages in this repository and the last active maintainer (jproberge) does not appear to be active any more.

The ROS-Industrial consortia are not involved: for historical reasons, the robotiq repository is hosted on the ros-industrial Github organisation, but there is no direct link with any of the other repositories there.

Please direct support requests to dof.robotiq.com. The tracker here is not monitored by Robotiq employees.

ROS Distro Support

	Indigo	Jade	Kinetic	Melodic
Branch	indigo-devel	jade-devel	kinetic-devel	kinetic-devel
Status	supported	not supported	supported	supported
Version	version	version	version	version

Travis - Continuous Integration

Status:

ROS Buildfarm

There are no up-to-date releases of these packages available from the ROS buildfarm.

Robotiq meta-package. See the ROS wiki page for more information.

License

Contents

This repo holds source code for all versions > groovy. For those versions <= groovy see: SVN repo

For xacro debug

check_urdf <(xacro robotiq_hand.xacro)

Usage

1. Install the Robotiq ros services control pkg:

   cd workspace/src
   
   git clone https://github.com/davidmartinez13/robotiq_3f_ros_pkg.git
   
   cd ..
   
   catkin build robotiq_3f_ros_pkg

2. To spawn the robotiq dummy gripper in gazebo run:

   roslaunch robotiq_3f_gripper_articulated_gazebo robotiq_gripper_empty_world.launch

• To spawn the robotiq gripper in gazebo run:

  roslaunch robotiq_3f_gripper_articulated_gazebo robotiq_gripper_empty_world_macro.launch

  • Test the control with the provided python script:

    cd /robotiq/robotiq_3f_gripper_control/nodes/
    
    python2 Robotiq3FGripperSimpleController.py

    • The following commands are available from the python script:

      r: Reset

      a: Activate

      c: Close

      o: Open

      b: Basic mode

      p: Pinch mode

      w: Wide mode

      s: Scissor mode

      (0-255): Go to that position

      f: Faster

      l: Slower

      i: Increase force

      d: Decrease force

  • Or, control the gripper with ros services:

    • If in sim, then launch the listener for sim:

      roslaunch robotiq_3f_driver listener_sim.launch
      

    • If not on sim, launch the listener:

      roslaunch robotiq_3f_driver listener.launch ip_address:=192.168.1.11
      

      Both ways the ROS services and gripper will be activated.
      Try sending some commands as:

      rosservice call /robotiq_3f_gripper/activate
      rosservice call /robotiq_3f_gripper/set_mode wide
      rosservice call /robotiq_3f_gripper/set_position 200
      rosservice call /robotiq_3f_gripper/set_position 150
      rosservice call /robotiq_3f_gripper/set_position 0
      

3. to spawn robotiq3f moveit with franka panda (not yet fully implemented):\

   roslaunch robotiq_3f_rviz_moveit_panda panda_robotiq3f_moveit.launch