plan in Moveit with UR10 plus Robotiq 140

Shengfan

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

Shengfan

sorry l happen to make some mistakes, l solve this problem.

Etienne_Samson

@Shengfan can you explain what you did so orhers can learn from that?

Shengfan

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 .

ceres

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:

https://answers.ros.org/question/312236/how-do-i-adapt-gripper-simulation-in-gazebo/


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