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ShengfanShengfan Posts: 4 Apprentice
Today l try to integrate Robotiq 140 gripper and UR10 robot.
l just want to see if l can plan them in Moveit!.
l add the joint which link UR and Robotiq,

and then l use Moveit setup assistant to prepare the moveit package.

then l try roslaunch  ur10_gripper_moveit_config demo.launch,  the gripper always in red color and l cannot plan the motion

so... l don't know what's the problem is and l have tried to modified the way l configure the setup assistant many times

Best Answer


  • Etienne_SamsonEtienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
    @Shengfan can you explain what you did so orhers can learn from that?
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • ShengfanShengfan Posts: 4 Apprentice
    Yes, actually l have different Moveit! configuration packages, and l happened to launch another description which did not include the gripper, so the errors happened and introduced  the collision, l did't check it because l thought that launch file is ok . So hope no one would make such a mistake like me .
  • ceresceres Unconfirmed Posts: 1 Recruit
    It's still unclear to me how to operate the 2f-140 gripper in MoveIt or a Gazebo simulation. Joints do not move in coordination with each other as shown here:

    <a rel="nofollow" href="https://answers.ros.org/question/310741/strange-behaviormissing-joints-when-using-moveit-to-configure-gripper/">https://answers.ros.org/question/310741/strange-behaviormissing-joints-when-using-moveit-to-configure-gripper/</a>

    and here:


    Surely I don't need to reinvent the wheel? Is there an example or reference to work off of somewhere? 

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