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Home > Programming > Using 2F 140 Gripper with ROS kinetic
mbirkholz

Hi there,
i was trying to use the 2F-Gripper with the ROS robotiq package and got an Import Error as i was executing

rosrun robotiq_2f_gripper_control Robotiq2FGripperRTUNode.py /dev/ttyUSB0

saying the folder module msg was missing, which is a filename extension and also a folder name:

Traceback (most recent call last):
  File "/opt/ros/kinetic/share/robotiq/robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py", line 50, in <module>
    from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_input  as inputMsg
ImportError: No module named msg

should i change the import mechanism or did i miss something?

Best regards,
Michael
mathieu_theriault

Hi @mbirkholz

Our ROS expert @jproberge can certainly guide you through your question.

Best regards,
jproberge

Hello @mbirkholz !

Thanks for reaching out to us!

This is definitely abnormal and should not be happening, it's strange! Have you compiled your catkin workspace properly? Any errors during compilation? Do you source your workspace (source [...]/catkin_ws/devel/setup.bash) ?

In case you sourced and compiled your catkin workspace properly, could you tell me a bit more about your setup (Linux OS, ROS version)? Also, after having compiled the workspace, could you try to generate the messages explicitly by typing:

"catkin_make robotiq_2f_gripper_control_generate_messages"

without quotes and see if you get the same error?

All the best,

Jean-Philippe Roberge, 
ROS Package Developper / Maintainer 
j-p.roberge@robotiq.com

mbirkholz

Hi,

using catkin_make also throws this error:

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by
  "controller_manager" with any of the following names:

    controller_managerConfig.cmake
    controller_manager-config.cmake

  Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
  set "controller_manager_DIR" to a directory containing one of the above
  files.  If "controller_manager" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  robotiq/robotiq_3f_gripper_control/CMakeLists.txt:4 (find_package)


-- Could not find the required component 'controller_manager'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "controller_manager" with any of the following names:

    controller_managerConfig.cmake
    controller_manager-config.cmake

  Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
  set "controller_manager_DIR" to a directory containing one of the above
  files.  If "controller_manager" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  robotiq/robotiq_3f_gripper_control/CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/t1/Schreibtisch/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/t1/Schreibtisch/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:528: die Regel für Ziel „cmake_check_build_system“ scheiterte
make: *** [cmake_check_build_system] Fehler 1
Invoking "make cmake_check_build_system" failed

After that, using rosrun still throws the same ImportError with the msg module.

I'm using Ubuntu 16.04 LTS 64 bit with ROS kinetic
mbirkholz

ok what i was missing was the controller manager and the socketcan interface although i've chosen the full installation...:

sudo apt-get install ros-kinetic-controller-manager
sudo apt-get install ros-kinetic-socketcan-interface

after that i got some other error messages that the rospy.Publisher function lacks of a kwarg "queue_size". I implemented it and finally got the gripper to work.

Thank you.
mbirkholz

i forgot i also had to
sudo chmod 777 /dev/ttyUSB0

to get modbus to work