onrobot
ROS drivers for OnRobot Grippers. This repository was inspired by ros-industrial/robotiq.
Features
- ROS Noetic (Python3)
- Controller for OnRobot RG2 / RG6 via Modbus/TCP
- Controller for OnRobot VG10 / VGC10 via Modbus/TCP
Dependency
- pymodbus==2.5.3
Installation
$ git clone git@github.com:takuya-ki/onrobot.git catkin_ws/src; cd catkin_ws
$ sudo rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y --os=ubuntu:focal -y
$ catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3
Usage
- Connect the cable between Compute Box and Tool Changer
- Connect an ethernet cable between Compute Box and your computer
- Execute programs (Please refer to onrobot/Tutorials)
RG2 / RG6
Send motion commands
Interactive mode
$ roslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6] ip:=XXX.XXX.XXX.XXX
$ rosrun onrobot_rg_control OnRobotRGSimpleController.py
ROS service call
$ roslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6] ip:=XXX.XXX.XXX.XXX
$ rosrun onrobot_rg_control OnRobotRGSimpleControllerServer.py
$ rosservice call /onrobot_rg/set_command c
$ rosservice call /onrobot_rg/set_command o
$ rosservice call /onrobot_rg/set_command '!!str 300'
Visualize a model
$ roslaunch onrobot_rg6_visualization disp_onrobot_rg6_model.launch
$ roslaunch onrobot_rg2_visualization disp_onrobot_rg2_model.launch
VG10 / VGC10
Send motion commands
Interactive mode
$ roslaunch onrobot_vg_control bringup.launch ip:=YYY.YYY.YYY.YYY
$ rosrun onrobot_vg_control OnRobotVGSimpleController.py
ROS service call
$ roslaunch onrobot_vg_control bringup.launch ip:=YYY.YYY.YYY.YYY
$ rosrun onrobot_vg_control OnRobotVGSimpleControllerServer.py
$ rosservice call /onrobot_vg/set_command g
$ rosservice call /onrobot_vg/set_command r
$ rosservice call /onrobot_vg/set_command '!!str 128'
Visualize a model
$ roslaunch onrobot_vgc10_visualization disp_onrobot_vgc10_1cup_model.launch
$ roslaunch onrobot_vgc10_visualization disp_onrobot_vgc10_4cups_model.launch
$ roslaunch onrobot_vg10_visualization disp_onrobot_vg10_model.launch
Author / Contributor
License
This software is released under the MIT License, see LICENSE.