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Tutorial using  "robotiq_c_model_control" was uploaded here "".

I have a trouble on connecting the 2-finger gripper while following this tutorial.

After the command below is executed, the LED turns on the blue. But the LED becomes red again soon.

$ rosrun robotiq_c_model_control /dev/ttyUSB0

In my case, the command below is executed.

$ rosrun robotiq_c_model_control /dev/ttyACM0

How can I solve this problem?

I have a error message below.

/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/ SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see for more information.
  pub = rospy.Publisher('CModelRobotInput', inputMsg.CModel_robot_input)
Traceback (most recent call last):
  File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/", line 89, in <module>
  File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/", line 82, in mainLoop
  File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/src/robotiq_c_model_control/", line 101, in sendCommand
  File "/home/user/catkin_ws/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/", line 80, in sendCommand
    self.client.write_registers(0x03E8, message, unit=0x0009)
  File "build/bdist.linux-i686/egg/pymodbus/client/", line 98, in write_registers
  File "build/bdist.linux-i686/egg/pymodbus/client/", line 83, in execute
  File "build/bdist.linux-i686/egg/pymodbus/", line 64, in execute
  File "build/bdist.linux-i686/egg/pymodbus/client/", line 354, in _recv
  File "/usr/lib/python2.7/dist-packages/serial/", line 460, in read
    raise SerialException('device reports readiness to read but returned no data (device disconnected?)')
serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected?)


Welcome @Etienne_Samson !

Oh, I had't seen @Laurie 's post: I misread and thought @June was referring to the 
ROS wiki tutorials.

Anyway, I see that the config file for the USB driver is also missing, which was necessary for me, at least for the new 85mm model. Note that, the bash script I mention in the github issue to generate this config file comes from the USB driver used in the URCaps package by Robotiq itself, which in fact runs in a Debian machine.

@Laurie  feel free to include to the tutorial any additional step I commented on the github issue.

@June forgot to ask to be sure as well: could you describe more your system, Linux and ROS distro, etc.? are you using the USB adapter from Robotiq? Source or binary packages? Now that I re-read it seems weird that the system chooses ttyACM* over ttyUSB* for you