How to control Robotiq_85 by programming in ROS like using MoveIt to control UR manipulator？

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Home > Programming > How to control Robotiq_85 by programming in ROS like using MoveIt to control UR manipulator？

MZJR 2022-01-10

At present, the gripper can be controlled by "rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py", but it is a little troublesome. How to control the gripper group by programming?
ROS version: Noetic
Robot: UR5e

The following link has been implemented.
https://wiki.ros.org/robotiq/Tutorials/Control%20of%20a%202-Finger%20Gripper%20using%20the%20Modbus%20RTU%20protocol%20%28ros%20kinetic%20and%20newer%20releases%29

bcastets 2022-01-10

For ROS we only provide the package you tried. I should work fine.
https://wiki.ros.org/robotiq
Otherwise you can also make your how program to control the gripper. The gripper communicate in modbus RTU and its registers are detailed in the manual.