Robotiq 2F grippers with Universal_robot_ROS

Karthik 2020-02-25

I am working on the Universal robot e-series(3e and 10e) with 2F gripper(2F-85) with the latest ROS driver(Universal_Robots_ROS_Driver). Not the old ur_modern_driver.

With Ubuntu 18.04 and ROS Melodic version. The robot is controlled with Moveit! package and I am able to control the robot's position and perform path planning.

I need to control the gripper(activation, open, close, reset) through ROS from the robot. I found that it can be controlled when the gripper is directly hooked into a computer. But I need it to be controlled from the robot the way it is done with the URcaps. Is there a way or if anyone can direct me how to proceed with, that would be helpful.

Thank you

Karthik

Enzo 2020-02-27

Hello Karthik,

There's a guide about this in the Universal Robots ROS Driver here.
Then I believe you should be able to control the 2F-gripper the same way as when it is directly hooked to your computer.

I haven't tried it yet but will be doing so next week.

Let me know if you manage!

Enzo,

Karthik 2020-02-27

Hi Enzo,

Thanks for getting back!

Yes I did follow that guide but wasn't sure how to activate the gripper as there is no driver for Robotiq with wrist socket. Some people reported that the Robotiq driver is compatible only with the wired connection and not the wireless socket on the wrist. Is there any link which shows how to do the setup or has anyone done it? I'll give it go anyways.

I am also trying to use the URscript commands to control the gripper. It isn't working either.

Have you or anyone worked with the urscripts being sent from a computer?

BobLa 2021-01-11

Hi Karthik or anyone that see this,

I know it've been quite a while since this discussion but I am facing the same problem as you right now, so may I ask have you found a way to control the Gripper via ROS ?? The robot I am working right now is UR5e.
I have successfully found a way to control the Gripper along with the robot via the URScript by sending the commands via socket on Python. It worked but I still want to control it via ROS! Plus, I wanna know how to show the gripper and control it in a stimulated environment as well (such as on Rviz)>

Thank you
Bob

felixvd 2021-05-17

I forked a fork of a robotiq driver and wrapped it [here](https://github.com/felixvd/robotiq/tree/add-urcap-socket-interface), but I never documented or really published it (shame on me). If anyone wants to clean it up and push it upstream, be my guest.