Control of Robotiq Gripper via ROS and C++ externally from UR3 Robot Computer

tangkai2

My current set up is that I have a computer solely dedicated and connected to the UR3 Robot with the Robotiq Gripper and I am controlling it from an external computer that is connected to the robot's computer via ethernet cable. I am currently using ROS Melodic to control the robots movement but I'm unable to control the gripper through ROS and C++. I've previously used python URX and was able to control but the gripper but due to our current application we are trying to transition from Python and URX to ROS-Industrial and C++. I've looked at multiple forums and tutorials and they indicate mostly using Python or Modbus protocols which requires direct USB connection to the ROS machine. I was wondering if there are any guidance or code examples that may achieve this.

Thanks!

MarcAntoine_Gauthier

Hello @tangkai2

Personally, I am not too familiar with the ROS platform. What I can share with you is that Robotiq has some software package already built for the Robotiq grippers.

You can have a look at this link. You can also find the github link where the package can be downloaded.

Regards.

aumax

tangkai2 said:

My current set up is that I have a computer solely dedicated and connected to the UR3 Robot with the Robotiq Gripper and I am controlling it from an external computer that is connected to the robot's computer via ethernet cable. I am currently using ROS Melodic to control the robots movement but I'm unable to control the gripper through ROS and C++. I've previously used python URX and was able to control but the gripper but due to our current application we are trying to transition from Python and URX to ROS-Industrial and C++. I've looked at multiple forums and tutorials and they indicate mostly using Python or Modbus protocols which requires direct USB connection to the ROS machine. I was wondering if there are any guidance or code examples that may achieve this.

Thanks!

hi！@tangkai2
I am trying to control the 2f gripper by using urx and python, you said you did it successfully, could you please tell me which packages did you used?