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robotiq_modular_gripper repositorymodular robot robotics ros gripper collaborative robotiq ros2 cobot mara |
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robotiq_modular_gripper repositorymodular robot robotics ros gripper collaborative robotiq ros2 cobot mara robotiq_140_gripper_description robotiq_85_gripper_description robotiq_gazebo robotiq_gripper_gazebo_plugins robotiq_hande_gripper_description |
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Repository Summary
Description | Robotiq modular grippers description and gazebo pkgs |
Checkout URI | https://github.com/acutronicrobotics/robotiq_modular_gripper.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2019-06-14 |
Dev Status | UNKNOWN |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | modular robot robotics ros gripper collaborative robotiq ros2 cobot mara |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
Name | Version |
---|---|
robotiq_140_gripper_description | 0.0.1 |
robotiq_85_gripper_description | 0.0.1 |
robotiq_gazebo | 0.0.1 |
robotiq_gripper_gazebo_plugins | 0.0.1 |
robotiq_hande_gripper_description | 0.0.1 |
README
Robotiq modular gripper
Industrial and modular end-of-arm tooling
As they are key to highly flexible automation tasks, we have enhanced three different grippers from Robotiq through the H-ROS SoM. Ranging from 50mm to 140mm stroke.
- ROS 2.0 native: Ready to be steered with MARA, the first truly modular collaborative robot.
- Independent ROS 2.0 adapter, plug & play: Easy to install manually and seamlessly working with other modular robot components.
- Real-time, time-sensitive communications: Qualified -through the H-ROS SoM- to achieve time synchronization and deterministic communications enabled with TSN standards.
- Ideal for MARA: Three highly adaptable grippers to be used in combination with MARA or other ROS 2.0 enabled robots. Now you can operate them from ROS 2.0 directly, by using a simple Ethernet connection.
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Original gripper | Hand-E | 2F-85 | 2F-140 |
Stroke (adjustable) | 50 mm | 85 mm | 140 mm |
Grip force (adjustable) | 60 to 130 N | 20 to 235 N | 10 to 125 N |
Form-fit grip payload | 5 kg | 5 kg | 2.5 kg |
Friction grip payload | 3 kg | 5 kg | 2.5 kg |
Gripper mass | 1 kg | 0.9 kg | 1 kg |
Position resolution (fingertip) | 0.2 mm | 0.4 mm | 0.6 mm |
Closing speed (adjustable) | 20 to 150 mm/s | 20 to 150 mm/s | 30 to 250 mm/s |
Install
Install ROS 2.0
Install ROS 2.0 following the official instructions: source debian packages.
Create mara ROS 2.0 workspace
Create a ROS workspace, for example:
mkdir -p ~/ros2_mara_ws/src
cd ~/ros2_mara_ws
sudo apt install -y python3-vcstool python3-numpy
wget https://raw.githubusercontent.com/acutronicrobotics/MARA/master/mara-ros2.repos
vcs import src < mara-ros2.repos
Generate HRIM dependencies:
cd ~/ros2_mara_ws/src/HRIM
sudo pip3 install hrim
python3 hrim.py generate models/actuator/servo/servo.xml
python3 hrim.py generate models/actuator/gripper/gripper.xml
Compile
Right now you can compile the code:
source /opt/ros/dashing/setup.bash
cd ~/ros2_mara_ws && colcon build --merge-install --packages-skip individual_trajectories_bridge
Launch
S85 ( Robotiq 2f-85 )
ros2 launch robotiq_gazebo robotiq_85.launch.py
S140 ( Robotiq 2f-140 )
ros2 launch robotiq_gazebo robotiq_140.launch.py
S50 ( Robotiq Hand-E )
ros2 launch robotiq_gazebo robotiq_hande.launch.py
CONTRIBUTING
No CONTRIBUTING.md found.
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robotiq_modular_gripper repositorymodular robot robotics ros gripper collaborative robotiq ros2 cobot mara |
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robotiq_modular_gripper repositorymodular robot robotics ros gripper collaborative robotiq ros2 cobot mara |
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