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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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