ROS metapackage based on the package developed by the Control Robotics Intelligence Group from the Nanyang Technological University, Singapore.
- Robotiq 85 Gripper with K-1363 Controller. (Modbus TCP/IP)
- Robotiq Hand-e (Universal Robots e-series)
- See the installation instructions below.
- Throughout the various files in this repository.
see ur3-repo for a complete example using the UR3e robot in Gazebo simulator.
Go to your ROS working directory. e.g.
cd ~/catkin_ws/src
Clone these repository:
git clone https://github.com/cambel/robotiq.git
Install any missing dependencies using rosdep:
rosdep update
rosdep install --from-paths . --ignore-src -y
Now compile your ROS workspace. e.g.
cd ~/catkin_ws && catkin_make
Be sure to always source the appropriate ROS setup file, e.g:
source ~/catkin_ws/devel/setup.bash
You might want to add that line to your ~/.bashrc
Try the cmodel_simple_controller:
roslaunch robotiq_control cmodel_simple_controller.launch ip:=ROBOTIQ_IP_ADDRESS
Expected output:
Simple C-Model Controller
-----
Current command: rACT = 0, rGTO = 0, rATR = 0, rPR = 0, rSP = 0, rFR = 0
-----
Available commands
r: Reset
a: Activate
c: Close
o: Open
(0-255): Go to that position
f: Faster
l: Slower
i: Increase force
d: Decrease force
-->