ekorudiawan / rg2_simulation

Unofficial RG2 Gripper URDF Model for ROS and Gazebo

Unofficial RG2 Gripper URDF Model for ROS and Gazebo Simulation

Running The Simulation Model

This package requires Gazebo MimicJointPlugin from this repo https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.

Create your own ROS workspace, clone the repo, and compile

mkdir -p rg2_ws/src
cd rg2_ws/src
git clone https://github.com/ekorudiawan/rg2_simulation.git
B
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
cd ../
catkin_make
source devel/setup.bash

Launch the simulation model

roslaunch rg2_gazebo rg2_gazebo.launch

Controlling gripper with ROS topic

rostopic pub /rg2/gripper_joint_position/command std_msgs/Float64 "data: 1.0"

Result