ROS for Universal Robot and Robotiq products

Alexandre_Pare 2016-05-24

If you are trying to put together a UR and Robotiq products using ROS, here are some useful links where to start from.
Universal Robot ROS package
Robotiq's products ROS library

PatrickHussey 2016-05-19

Also we have a ROS package with Gazebo simulation for the Robotiq 85 Gripper using modbus RS485

https://github.com/StanleyInnovation/robotiq_85_gripper

xamla_andreas 2016-06-08

Regarding control of an UR I can recommend to look at the ur_modern_driver written by Thomas Timm: https://github.com/ThomasTimm/ur_modern_driver

ProfJust 2022-05-24

Unfortunately most of these links above are outdated or broken. :'(

Can you please give me some hints, how to control the robotiq_85_gripper from ROS-Noetic and MoveIt!, using the driver from https://github.com/UniversalRobots/Universal_Robots_ROS_Driver. Any help would be appreciated.

Do I have to connect the USB/RS484-cable from the Gripper to the PC or can it stay in the connection box of the UR5e?
Do I have to start external_control.urcap and rs485.urcap in the same UR-Programm?
Do I have to delete the urcap used for the gripper when the robot runs without ROS?
How can I start the drivers from ROS.
Do I have to start something else for gripper_contorl than this?

roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.0.100 kinematics_config:=$(rospack find ur_calibration)/etc/ur5e_robot_calibration.yaml

Is there a repository that work with ROS-Noetic?

many thanks in advance :)