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industrial: robotiq | simple_message

Package Summary

robotiq

robotiq: robotiq_c_model_control | robotiq_force_torque_sensor | robotiq_modbus_tcp | robotiq_s_model_control | robotiq_s_model_visualization

Package Summary

ROS drivers for Robotiq Adaptive Grippers and Robotiq Force Torque Sensor

robotiq: robotiq_c_model_control | robotiq_force_torque_sensor | robotiq_modbus_tcp | robotiq_s_model_control | robotiq_s_model_visualization

Package Summary

ROS drivers for Robotiq Adaptive Grippers and Robotiq Force Torque Sensor

robotiq: robotiq_2f_gripper_control | robotiq_3f_gripper_control | robotiq_3f_gripper_visualization | robotiq_ft_sensor | robotiq_modbus_tcp

Package Summary

ROS drivers for Robotiq Adaptive Grippers and Robotiq Force Torque Sensor

Overview

This stack can be used to control Robotiq 2-Finger Adaptive Robot Grippers, 3-Finger Adaptive Robot Gripper and Force Torque Sensor. Only grippers configured with the Modbus TCP or Modbus RTU protocol can be controlled using the stack. Robotiq Wrist Camera is currently not supported.

Installation

The Robotiq package is only available from source. It can be cloned using the following command:

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

Once cloned, checkout the branch for your specific ROS version (e.g. kinetic-devel) The robotiq package has the following library dependencies:

  • Modbus TCP:

    rosdep install robotiq_modbus_tcp

  • The EtherCAT soem library is also required to build the Robotiq package. It must also be cloned into the same workspace as the Robotiq package

    git clone https://github.com/ros-industrial/ethercat-soem.git

  • The EtherCAT soem library is also required to build the Robotiq package. It can be downloaded from debs by

    sudo apt-get install ros-indigo-soem

  • The EtherCAT soem library is also required to build the Robotiq package. It can be downloaded from debs by

    sudo apt-get install ros-kinetic-soem

Note that Robotiq devices that use the USB serial port will appear as /dev/ttyUSBn devices in your system (where "n" is a number that depends on the number of USB devices that are plugged in the computer) and require read and write permissions to work properly. One way to permanently ensure you have such permissions is simply to add your user to the dialout group once:

sudo usermod -a -G dialout $USER

Tutorials

See the Tutorials page for an overview of the available tutorials.

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

Wiki: robotiq (last edited 2021-05-28 17:22:00 by GvdHoorn)