How to communicate to the Robotiq 2f-85 gripper via ROS Melodic and UR10e?
/ Most recent by Esther
I am having issues with communicating and activating the Robotiq 2f-85 gripper via ROS.
My laptop has ROS melodic on it and can send ROS commands via ethernet cables to the UR10e arm. The Robotiq 2f-85 gripper is connected to the UR10e's computer. From my laptop I can detect the Robotiq 2f-85 gripper but can't send any commands to it or receive feedback. In my ROS workspace, I have downloaded the ros Industrial robotiq, fmauch_universal_robot, and Universal_Robots_ROS_Driver repositories.
Below are the steps I execute to try to communicate to the Robotiq 2f-85:
Power on the UR10e,
Activate the gripper from the teach pendant
roslaunch ur_robot_driver ur10e_bringup.launch use_tool_communication:=true tool_device_name:=/tmp/ttyS0
Run the program on the teach pendant for external control
roslaunch robotiq_2f_gripper_action_server robotiq_2f_gripper_action_server.launch
Below are some rostopic available for the gripper after launching the action server and their output:
/gripper/feedback nothing comes up
/gripper/output nothing comes up
/gripper/status return an empty status list/gripper/goal “gripper could not accept goal because the gripper is not yet active” It is activated from the teach pendant but I can’t find if I am supposed to send a command from Ubuntu workstation to activate it?
After launching the action server for the gripper and doing roswtf, this is what comes up
Any help would be appreciated!