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ros2_pick_and_place_ur5 repositorymoveit_ur5_interface moveit_ur5_msgs pnp_actionlib pnp_msgs robotiq_description ur5_gripper_description ur5_gripper_moveit_config |
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Repository Summary
| Checkout URI | https://github.com/juotungchen/ros2_pick_and_place_ur5.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-01-09 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| moveit_ur5_interface | 0.0.0 |
| moveit_ur5_msgs | 0.0.0 |
| pnp_actionlib | 0.0.0 |
| pnp_msgs | 0.0.0 |
| robotiq_description | 0.0.0 |
| ur5_gripper_description | 0.0.0 |
| ur5_gripper_moveit_config | 0.0.0 |
README
Instruction to install and run Robotiq gripper driver
Installation
Clone robotiq repo
Start the command from the root workspace directory.
cd src
git clone https://github.com/sequenceplanner/robotiq_2f.git
Install ros2_rust
For detail instruction, please follow this link. Here are all the commands:
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
git clone https://github.com/ros2-rust/ros2_rust.git
sudo apt install -y git libclang-dev python3-pip python3-vcstool
cargo install cargo-ament-build
pip install git+https://github.com/colcon/colcon-cargo.git
pip install git+https://github.com/colcon/colcon-ros-cargo.git
Now we need to modify the .repos file because we are using ROS2 galactic. Make a copy of ros2_rust_foxy.repos and named it ros2_rust_galactic.repos. Modify all foxy into galactic in the file.
cd .. (move back to root workspace directory)
vcs import src < src/ros2_rust/ros2_rust_galactic.repos
Build robotiq_2f_driver
colcon build --packages-up-to robotiq_2f_driver
colcon build --packages-up-to robotiq_2f_driver_ui
Running Robotiq gripper driver
Find USB device name
I have tried lsusb and lsblk, but they don’t work well. Run this command instead:
dmesg
Hopefully, you will see something like ttyUSB0. And now we need to give permission to access it:
sudo chmod 777 /dev/ttyUSB0
Launching the driver
You will see the gripper close and open.
. install/setup.bash
ros2 run robotiq_2f_driver robotiq_2f_driver
Controlling the gripper from command
. install/setup.bash
ros2 topic pub -1 /robotiq_2f_command robotiq_2f_msgs/msg/CommandState "{command: 'close'}"
ros2 topic pub -1 /robotiq_2f_command robotiq_2f_msgs/msg/CommandState "{command: 'open'}"
Controlling the gripper with GUI
There will be a window with open and close buttons.
. install/setup.bash
ros2 run robotiq_2f_driver_ui robotiq_2f_driver_ui
CONTRIBUTING
No CONTRIBUTING.md found.
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