2/27/2024 0 Comments Download the new version GripperRoslaunch robotiq_2f_gripper_control test_85mm_gripper.launch sim:=true Roslaunch robotiq_2f_gripper_control test_85mm_gripper.launch comport:="" To control the gripper over a serial port, you may need to give proper privileges to the user: The RS-485 to USB converter ACC-ADT-USB-RS485 that comes by default when you order these grippers allow connecting the 2-finger gripper directly to a computer through a USB 2.0 port using Modbus RTU communication protocol. Prior to executing control of the grippers make sure you have connected a 2-finger adaptive gripper model to a USB port of your computer. Command gripper through an instance of a SimpleActionClient in C++.Command gripper through an instance of a SimpleActionClient in Python.This package has been tested on Kinetic and Melodic. Helper functions and examples for python and C++.Ī pull request to this packages requires further analysis since I performed many structural changes, which will create conflict for previous users.Configuration of collision meshes as simplified convex hulls of the visual meshes for both 85mm and 140mm stroke grippers.Gripper driver joint position update to /joint_state topic.Use of ros actionlib Action Server/Clients to properly connect, control and command the grippers.Note: This package is based on waypointrobotics/robotiq_85_gripper and ros-industrial/robotiq, with many code changes and feature inclusions as: (Currently only URDF descriptions of models C3 are available) This package contains the necesary files to connect and control the Robotiq 2 finger adaptive grippers (85mm and 140mm stroke) of the C series through a USB port using the Modbus RTU communication protocol.
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