robotiq

ROS metapackage based on the package developed by the Control Robotics Intelligence Group from the Nanyang Technological University, Singapore.

Setup

• Robotiq 85 Gripper with K-1363 Controller. (Modbus TCP/IP)
• Robotiq Hand-e (Universal Robots e-series)

Maintainer

Cristian Beltran

Documentation

• See the installation instructions below.
• Throughout the various files in this repository.

Installation

see ur3-repo for a complete example using the UR3e robot in Gazebo simulator.

Go to your ROS working directory. e.g.

cd ~/catkin_ws/src

Clone these repository:

git clone https://github.com/cambel/robotiq.git

Install any missing dependencies using rosdep:

rosdep update
rosdep install --from-paths . --ignore-src -y

Now compile your ROS workspace. e.g.

cd ~/catkin_ws && catkin_make

Testing the Installation

Be sure to always source the appropriate ROS setup file, e.g:

source ~/catkin_ws/devel/setup.bash

You might want to add that line to your ~/.bashrc

Try the cmodel_simple_controller:

roslaunch robotiq_control cmodel_simple_controller.launch ip:=ROBOTIQ_IP_ADDRESS

Expected output:

Simple C-Model Controller
-----
Current command:  rACT = 0, rGTO = 0, rATR = 0, rPR = 0, rSP = 0, rFR = 0
-----
Available commands

r: Reset
a: Activate
c: Close
o: Open
(0-255): Go to that position
f: Faster
l: Slower
i: Increase force
d: Decrease force
-->