Robotiq Hand-E ROS2 package for Foxy on UR

takti

Hey i was just wondering if there is an implementation for the usage or a Robotiq Hand-E Gripper for ROS2 that can be used on Foxy on the UR Cobots. The only thing i have found so far is this:
https://github.com/AcutronicRobotics/robotiq_modular_gripper
which seems to be made for mara and doesnt have a Foxy branch and this:
https://github.com/ros-industrial/robotiq
which is outdated and made for ROS1.

thanks in advance

bcastets

On Robotiq side, the only thing we have of the moment is for ROS1.
https://github.com/ros-industrial/robotiq

takti

thanks for letting me know. Is there a workaround or any other way to get the gripper working on ros2?

bcastets

I guess making a package for ros2 would the best option. Anyone should be able to make it.

Our gripper communicate in modbus rtu. Details about how to communicate is indicated in our manual. With this information it should be possible to make a ros package.

It is also possible that the current package can be adjusted to work on ros2.

Frezius

Good afternoon, is there any update about this? I am using ROS2 Humble, so it would be very beneficial to control the gripper though ROS2.

Thanks!

bcastets

You may find some ROS2 projects made with Robotiq gripper. At the moment there is no package available on Robotiq side.