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JuneJune Posts: 4 Apprentice
edited September 2016 in Troubleshooting
Tutorial using  "robotiq_c_model_control" was uploaded here "http://dof.robotiq.com/discussion/199/ros-package-tutorial-for-the-2-finger".

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 CModelRtuNode.py /dev/ttyUSB0

In my case, the command below is executed.

$ rosrun robotiq_c_model_control CModelRtuNode.py /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/CModelRtuNode.py:65: SyntaxWarning: The publisher should be created with an explicit keyword argument 'queue_size'. Please see http://wiki.ros.org/rospy/Overview/Publishers and Subscribers 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/CModelRtuNode.py", line 89, in <module>
    mainLoop(sys.argv[1])
  File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/nodes/CModelRtuNode.py", line 82, in mainLoop
    gripper.sendCommand()
  File "/home/user/catkin_ws/src/robotiq/robotiq_c_model_control/src/robotiq_c_model_control/baseCModel.py", line 101, in sendCommand
    self.client.sendCommand(self.message)
  File "/home/user/catkin_ws/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 80, in sendCommand
    self.client.write_registers(0x03E8, message, unit=0x0009)
  File "build/bdist.linux-i686/egg/pymodbus/client/common.py", line 98, in write_registers
  File "build/bdist.linux-i686/egg/pymodbus/client/sync.py", line 83, in execute
  File "build/bdist.linux-i686/egg/pymodbus/transaction.py", line 64, in execute
  File "build/bdist.linux-i686/egg/pymodbus/client/sync.py", line 354, in _recv
  File "/usr/lib/python2.7/dist-packages/serial/serialposix.py", 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?)






Best Answers

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  • Etienne_SamsonEtienne_Samson Posts: 375 Handy
    Thanks @carlosjoserg!

    @Laurie maybe you could update your tutorials ?
    Etienne Samson
    Technical Support Director
    +01 418-380-2788 ext. 207
    esamson@robotiq.com
  • carlosjosergcarlosjoserg Posts: 33Tactile Sensor Beta Testers Handy
    Welcome @Etienne_Samson !

    Oh, I had't seen @Laurie 's post: http://dof.robotiq.com/discussion/199/ros-package-tutorial-for-the-2-finger 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

    Best
  • JuneJune Posts: 4 Apprentice

    @carlosjoserg ; Thanks for your answer.


    Oh, I omit my environments.

    I'm using Ubuntu 14.04 LTS, ROS.

    I'm also using the Robotiq 2-finger gripper and Vision system.

    I'm connecting the 2F gripper and the computer using USB from the vision system.

    So I don't know what you are saying about the USB adapter from Robotiq.


    Anyway, I read your answer, and did as you explained in the first link.

    But I have USB port related with FTDI.

    The log of the command of "lsusb" and "dmesg | grep tty" is below.

    Do I need any additional hardware?



    and after modifying the bash file, I have error messages below.

    It is also related with FTDI.



    Is there any way to deal with this problem without FTDI?


    Oh, I asked my freind and he answered about the FTDI.

    I'll have another try and contact you again. Thanks.

    1.png 161.9K
    2.png 19.8K
  • JuneJune Posts: 4 Apprentice
    I'm using combo system ( 85mm 2 finger gripper + vision system ) but I cannot use the finger and also the vision through the Robotiq ROS. I think the Robotiq ROS package is not updated for the vision system. Even in the window 7, 8.1, the gripper didn't operate by the user interface if the vision system is combined. Much portion of the vision system is under development and some updates for the vision system is needed.
  • @June
    You can plug the gripper and camera independently to use ROS with the gripper only.
    You simply need the gripper coupling AGC-CPL-062-002 which have it's own cable.
    You also need the cable CBL-COM-2065-10 and the ACC-ADT-USB-RS485 to connect the gripper to the controller.

    For the camera, you simply need the coupling RWC-TOOL-062 which will allow installing the gripper with its coupling.
    Note that you'll need to provide the long screws that will go through the gripper and the camera to be fixed into the UR threads.

    Catherine Bernier, Jr. Eng. 
    Application Engineer at Robotiq
    c.bernier@robotiq.com
    https://www.linkedin.com/in/catherinebernier
  • Annick_MottardAnnick_Mottard Posts: 128 Handy
    @June
    If you have the 2-Finger Gripper and Wrist Camera combo (CUR-AGC-085-RWC), then you do not have a USB converter, nor a coupling for the gripper. These parts are not necessary if the gripper is mounted directly on the camera, thus not provided with the kit. The camera does not have a ROS package and is meant for use only over a Universal Robots' controller and robot arm. Also, you should not be able to control the gripper via ROS if it is mounted on the camera.
    Annick Mottard
    Product Expert
    Robotiq
    a.mottard@robotiq.com 
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