Home Programming

Discussion

Left ArrowBack to discussions page
StefanStefan Posts: 5 Apprentice
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

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

Comments

Sign In or Register to comment.
Left ArrowBack to discussions page