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Stefan
Posts: 5 Apprentice
Control of 2F Gripper and wrist camera on UR10e using ROS Melodic |
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/ Most recent by bcastets
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in Programming
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 https://dof.robotiq.com/discussion/1671/how-do-you-control-the-2f-gripper-using-ros-if-its-connected-to-a-ur5e-robot#latest , the new Universal Robot Driver https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/setup_tool_communication.md 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
[ 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 http://wiki.ros.org/robotiq?distro=kinetic still the preferred ROS package for the control of the gripper even if ROS Melodic is used?
Best regards,
Stefan
Tagged:
Here are tutorials:
http://wiki.ros.org/robotiq/Tutorials
Regarding the camera, you may manage to access the camera image via UR controller USB but you will have limited control over the camera. Camera parameters like focus, exposure, white balance cannot be controlled.
https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/setup_tool_communication.md
You can also check this related post:
https://dof.robotiq.com/discussion/comment/5811#Comment_5811
I am interested in using the 2F-85 gripper with ROS and would like to know if there is a ROS2 galactic driver available for this gripper.
I am currently using a UR10E robot with the UniversalRobots_ros2_driver and would also like to know if this driver has some tools to emulate the RS485 wirst communication of the robot on the PC.