ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic moveit_ur5_interface moveit_ur5_msgs pnp_actionlib pnp_msgs robotiq_description ur5_gripper_description ur5_gripper_moveit_config

Repository Summary

Description This repository contains ROS2 packages for controlling a UR5 robot with a Robotiq gripper, facilitating precise pick and place operations using MoveIt and providing a comprehensive toolkit for ROS2-based UR5 manipulation.
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 UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (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.

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic

ros2_pick_and_place_ur5 repository

robotiq ros2 actionlib ur5-robot robotiq-gripper urdf-descriptions pickandplace moveit2 robotiq-2f-85-gripper ros2-galactic