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Hi everybody,

I would like to control the 2F-85 gripper and the wrist camera on my UR10e using ROS. The USB-Hub for gripper and wrist camera is connected to the UR controller. Is it possible to control both gripper and camera with ROS?

Regarding to this discussion , the new Universal Robot Driver might be capable of forwarding the UART port of the gripper as a virtual serial port on the ROS machine. However, I am not sure which settings (e.g. serial port) I need for the tool communication. Connecting to the UR controller via ssh and using dmesg | grep tty in the terminal, leads to:

[ 0.000000] Kernel command line: BOOT_IMAGE=(hd0,3)/vmlinuz root=LABEL=rootfs.0 rootfstype=ext3 console=ttyS0,115200 consoleblank=0 net.ifnames=0 biosdevname=0 panic=60 intel_idle.max_cstate=0 processor.max_cstate=0 sdhci_pci.max_freq=0 idle=poll splash quiet rauc.slot=A isolcpus=3
[ 0.000000] console [ttyS0] enabled
[ 3.573559] 00:02: ttyS0 at I/O 0x3f8 (irq = 4, base_baud = 115200) is a 16550A
[ 7.381382] systemd[1]: Expecting device dev-ttyS0.device...
[ 86.551742] cdc_acm 1-2.3.1:1.2: ttyACM0: USB ACM device
[ 86.552132] cdc_acm 1-2.3.1:1.5: ttyACM1: USB ACM device

However, I am not sure if the UART port of the gripper is listed...

Assuming that the UR driver is capable of providing a virtual serial port, is this still the preferred ROS package for the control of the gripper even if ROS Melodic is used?

Best regards,