Wrist Camera Control with ROS

Nick_Kim 2021-05-12

We're trying to control the image of Wrist Camera using ROS.

However, roswiki robotiq does not support Wrist Camera.

Is there any way to access the image of the Wrist Camera from an external device?

bcastets 2021-05-13

@Nick_Kim
The wrist camera behave like a fully automatic webcam (focus, brightness, white ballance,..) when it is connected to a PC. You can use a ROS package which manage such camera to retrieve the image.

Here below si an example of package:
http://wiki.ros.org/usb_cam

Nick_Kim 2021-05-14

@bcastets
Is the usb_cam in the link address the Wrist Camera used by UR?
We are using Wrist Camera for UR5.

bcastets 2021-05-14

@Nick_Kim
It will work if the camera is directly connected to the PC via USB.
For the gripper the simplest way to control with the ROS PC is also to make a USB connection with the robot.
To do that you need to separate camera and gripper connection using a coupling with a 10m cable usually used for CB robot.

dayvsonsilva 2022-09-13

Hello,

I started to gather the necessary information to create a ROS package for Wrist camera, but it will not be an easy task. Neither the 3D model is available on the website (the file available does not correspond to the Wrist camera). I looked in several sources but I didn't find it, does anyone know where I can find the ".dae" or ".stl" files?

bcastets 2022-09-13

The 3D file of the camera is on our website.
https://robotiq.com/support
what is the problem you found with the CAD ? Please contact support@robotiq.com about this, we will send you the files you need.