## page was renamed from robotiq/Tutorials/Control of an S-Model Gripper using the Modbus TCP Protocol ## page was renamed from robotiq/Tutorials/Control of a S-Model Gripper using the Modbus TCP Protocol ## For instruction on writing tutorials ## http://www.ros.org/wiki/WritingTutorials #################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = The procedure is similar for controlling a Robotiq 2-Finger Gripper using the "robotiq_2f_gripper_control" package ## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links ## note.0= ## descriptive title for the tutorial ## title = Control of a 3-Finger Gripper using the Modbus TCP protocol (ros kinetic and newer releases) ## multi-line description to be displayed in search ## description = This tutorial explains how to use the "robotiq_3f_gripper_control" and "robotiq_modbus_tcp" packages to control an 3-Finger Gripper configured with the Modbus TCP protocol. Please visit this website for more information on the Robotiq [[http://robotiq.com|Adaptive Robot Grippers]]. ## the next tutorial description (optional) ## next = ## links to next tutorial (optional) ## next.0.link= ## next.1.link= ## what level user is this tutorial for ## level= BeginnerCategory ## keywords = #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> <<TableOfContents(4)>> == Prerequisites == This tutorial assumes that you have a 3-Finger Gripper configured with the Modbus TCP protocol. The Gripper should be connected to a network, which has been properly configured (you can validate the communication with the Gripper using the Robotiq User Interface). Finally, make sure that the external dependency for the package "robotiq_modbus_tcp" has been installed. The dependency is the python package pyModbus. From Ubuntu Precise, it is simply installed using "rosdep install robotiq_modbus_tcp". On other systems, it can be installed using "easy_install -U pymodbus". === Network configuration === Make sure that the ethernet card in your PC to which your gripper is connected has the following static IP network configuration: {{attachment:robotiq_network_setup.jpeg}} The static IP address of the PC (192.168.1.2) can be any IP address different from the hand's IP address (whose default is 192.168.1.11). == ROS Nodes to Control the Gripper == === Run the 3-Finger Gripper Driver Node === The Gripper is driven by the node "Robotiq3FGripperTcpNode.py" contained in the package "robotiq_3f_gripper_control". The IP address of the Gripper has to be provided as an argument. For example, the driver for controlling a 3-Finger Gripper with the IP address 192.168.1.11 is launched using the following command: "rosrun robotiq_3f_gripper_control Robotiq3FGripperTcpNode.py 192.168.1.11". === Run the 3-Finger Gripper Simple Controller Node === The driver listens for messages on "Robotiq3FGripperRobotOutput" using the "Robotiq3FGripper_robot_output" msg type. The messages are interpreted and commands are sent to the gripper accordingly. A simple controller node is provided which can be run (at another terminal) using "rosrun robotiq_3f_gripper_control Robotiq3FGripperSimpleController.py". {{attachment:simple_controller2.jpg}} The "Robotiq3FGripper_robot_output" msg type is simply composed of the robot output variables described in the [[https://robotiq.com/support/3-finger-adaptive-robot-gripper/downloads-instruction-manual?document=|Robotiq 3-Finger Gripper Instruction Manual]]. The simple controller node can therefore be modified to send custom commands to the Gripper. === Run the 3-Finger Gripper Status Listener Node === In the package "robotiq_3f_gripper_control", there is also a node for listening to and interpreting the status of the Gripper. The driver publishes the status of the Gripper on "Robotiq3FGripperRobotInput" using the "Robotiq3FGripper_robot_input" msg type. The msg type is composed of the robot input variables described in the [[https://robotiq.com/support/3-finger-adaptive-robot-gripper/downloads-instruction-manual?document=|Robotiq 3-Finger Gripper Instruction Manual]]. The status listener node can be run (at another terminal) using the following command: "rosrun robotiq_3f_gripper_control Robotiq3FGripperStatusListener.py". {{attachment:status_listener.jpg}} ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE