robotiq_s_model_utils

Overview

Libraries for interfacing with the Robotiq S Model hand.

Installing

From source

Make sure you have a working catkin workspace, as described at: http://www.ros.org/wiki/catkin/Tutorials/create_a_workspace

Also make sure you have git installed:

sudo apt-get install git-core

Change directory to the source folder of your catkin workspace. If, for instance, your workspace is ~/catkin_ws, make sure there is a src/ folder within it, then execute:

cd ~/catkin_ws/src

Download the metapackage from the github repository (<ros_distro> may be groovy or hydro):

git clone -b <ros_distro> https://github.com/kth-ros-pkg/robotiq_s_model_utils.git

Make sure you also have the robotiq metapackage:

git clone -b groovy-devel https://github.com/ros-industrial/robotiq.git

Compile your catkin workspace:

cd ~/catkin_ws
catkin_make

robotiq_s_model_control_client

This C++ library provides a simple interface to the SModelTcpNode.py server from the robotiq_s_model_control package for controlling an S-Model Robotiq hand.

Example

You can run the example robotiq_control_client_example by doing the following:

1. Make sure you are connected to the hand via ethernet and that your network card is set to a fixed IP address different from the IP address of the Robotiq hand (e.g. 192.168.1.30). Set the netmask to 255.255.255.0 and the gateway to 0.0.0.0.

2. Bring up a roscore:

    roscore
   

3. Run the SModelTcpNode.py:

    rosrun robotiq_s_model_control SModelTcpNode.py <ip_address>
   

   Where <ip_address> is the IP address of the Robotiq hand (tipically 192.168.1.11).

4. Run the example:

    rosrun robotiq_s_model_control_client robotiq_control_client_example
   

robotiq_s_model_joint_state_publisher

The robotiq_dummy_joint_state_publisher node publishes dummy joint states for the S-Model Robotiq hand to the /joint_state topic.