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UR3 robot connected with Gripper (2F-140) & FT300 using ROS
/ Most recent by bcastets
I am working on the Universal robot UR3 with 2F gripper(2F-140) & FT300 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) and use the Force/Torque sensor data through ROS from the robot. I found that it can be done when the gripper & the FT sensor are directly hooked into a computer. But I need it to be done when the two parts are connected directly to the robot. Is there a way or if anyone can direct me how to proceed with, that would be helpful.
I looked at this tool communication but does it works also for UR robots?
Thank you in advance,Dimitris