robotiq_hande_description

For the driver, check the robotiq_hande_driver package from AGH UST.

This package contains meshes and URDF description of Robotiq Hand-E gripper. It was originally developed for integration with Universal Robots e-series (UR5e), however it is be possible to change the coupler model to fit your needs. PRs are welcome!

• The gripper comes with coupler model (but without flange).
• This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
  • These CAD models are taken from the official Robotiq Support page.
• Package has been developed and tested in ROS 2 Humble.
• The definitions for the ros2_control framework are available in the robotiq_hande_gripper.ros2_control.xacro file.

[!IMPORTANT] The fingers’ joints can be set from 0 to 25 mm (which corresponds to the maximal grasp with from 0 to 50 mm).

Usage

In your URDF (Xacro) file include the Hand-E definition. Provide a unique name and the parent link (for instance tool0) as the parameters:

<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
<!-- ... -->
<xacro:robotiq_hande_gripper name="robotiq_hande_gripper" parent="PARENT_LINK" prefix="" />

For estabilishg a connection with robotiq_hande_driver there is also need to provide more parameters:

<xacro:robotiq_hande_gripper
    name="robotiq_hande_gripper"
    prefix=""
    parent="tool0"
    grip_pos_min="0.0"
    grip_pos_max="0.025"
    tty="/tmp/ttyUR"
    baudrate="115200"
    parity="N"
    data_bits="8"
    stop_bit="1"
    slave_id="9"
    use_fake_hardware="false"
  />

[!NOTE] The TF frame of the end tip of the gripper is called ${prefix}hande_end, where ${prefix} evaluates as the prefix macro parameter.

Examples

An example usage can be find in the urdf/hande_preview.urdf.xacro file. Furthermore, an integration with whole ROS 2 project example can be find in the AGH-CEAI/aegis_ros repository.

Preview

1. Build the package with colcon and source it:

colcon build --symlink-install
source ./install/setup.bash

1. Run the Rviz with a call to the urdf_launch package:

ros2 launch robotiq_hande_description display.launch.py

Credits

• The original files of the gripper model were taken from the Robotiq website.
• The URDF files are based on work of @cambel repository.
• Preview in Rviz is based on ROS 2 URDF Tutorial.