dragandbot / robotiq

ROS-Industrial Robotiq meta-package (http://wiki.ros.org/robotiq)

Installation

Install the repository manually or through wstool

wstool init ~/catkin_ws/src/
wstool merge -t ~/catkin_ws/src/ ~/catkin_ws/src/<path>/<component>.rosinstall.kinetic
wstool update -t ~/catkin_ws/src/

sudo usermod -a -G dialout $USER
reboot (or logout)
sudo apt-get install ros-kinetik-soem
cd ~/catkin_ws/src
export ROS_PACKAGE_PATH=~/catkin_ws/src:$ROS_PACKAGE_PATH
rosdep install -a -y --ignore-src
catkin_make

Problems to be tested

• soem is not automatically installed from rosdep, at least in Kinetik and must be manually installed

Running

rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB0

The driver needs initializing. Example:

	pub = rospy.Publisher('/CModelRobotOutput', CModel_robot_output, queue_size=10)
	
	command = CModel_robot_output()
	command2 = CModel_robot_output()

	command.rACT = 0
	command.rGTO = 0
	command.rATR = 0
	command.rPR = 0
	command.rSP = 0
	command.rFR = 0

	command2.rACT = 1
	command2.rGTO = 1
	command2.rATR = 0
	command2.rPR = 0
	command2.rSP = 255
	command2.rFR = 150

	pub.publish(command)
	rospy.sleep(2)
	pub.publish(command2)
	rospy.sleep(2)

Robotiq

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

Contents

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