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Alexandre_PareAlexandre_Pare Posts: 56 Crew
edited May 2016 in Programming
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
Alexandre Pare, Eng.
Application Engineer
[email protected]


  • PatrickHusseyPatrickHussey Founding Pro Posts: 1 Handy
    Also we have a ROS package with Gazebo simulation for the Robotiq 85 Gripper using modbus RS485

  • xamla_andreasxamla_andreas Founding Pro Posts: 15 Handy
    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

  • ProfJustProfJust Unconfirmed Posts: 1 Recruit
    Unfortunately most of these links above are outdated or broken.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:= kinematics_config:=$(rospack find ur_calibration)/etc/ur5e_robot_calibration.yaml
    • Is there a repository that work with ROS-Noetic?
    many thanks in advance :)

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