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LaurieLaurie Founding Pro Posts: 3 Handy
Hi everyone,

The 2-Finger robot hand from Robotiq has a complete software package available on ROS. The ROS Industrial software package for the 2-Finger robot hand is hosted on GitHub under the “robotiq_c_model_control” designation.

This ROS package can be used to control the C-Model through a driver node. Simple commands can be sent via the controller, like opening and closing the hand with a certain speed and strength. The gripper can also receive command to close or open to a precise position. The package also contains a node to listen and interpret the status of the gripper, called the status listener node. The package can be modified to send custom commands as your application needs to.

You can find enclosed to this publication the updated tutorial for the C-Model.

If you have any suggestions/comments for the tutorial, let me know and I'll be glad to make the change.
Laurie Marceau
Student in Engineering
École de technologie supérieure (ÉTS), Montreal, Canada


  • JuneJune Posts: 4 Apprentice
    edited September 2016
    I have a problem when the command

    $ rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB0

    is executed.

    The LED becomes blue, but it becoms red soon.

    I have a error massage below.


    /home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/CModelRtuNode.py:65: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers and Subscribers for more information.
      pub = rospy.Publisher('CModelRobotInput', inputMsg.CModel_robot_input)
    Traceback (most recent call last):
      File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/CModelRtuNode.py", line 89, in <module>
      File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/CModelRtuNode.py", line 82, in mainLoop
      File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/src/robotiq_c_model_control/baseCModel.py", line 101, in sendCommand
      File "/home/user/catkin_ws/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 80, in sendCommand
        self.client.write_registers(0x03E8, message, unit=0x0009)
      File "build/bdist.linux-i686/egg/pymodbus/client/common.py", line 98, in write_registers
      File "build/bdist.linux-i686/egg/pymodbus/client/sync.py", line 83, in execute
      File "build/bdist.linux-i686/egg/pymodbus/transaction.py", line 64, in execute
      File "build/bdist.linux-i686/egg/pymodbus/client/sync.py", line 354, in _recv
      File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", line 460, in read
        raise SerialException('device reports readiness to read but returned no data (device disconnected?)')
    serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected?)


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