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Robotiq 2F grippers with Universal_robot_ROS_driver
/ Most recent by felixvd
Karthik Posts: 5 Apprentice
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.
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!
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)>