onrobot

ROS drivers for OnRobot Grippers

Features

• ROS Noetic (Python3)
• Controller for OnRobot RG2 / RG6 via Modbus/TCP
• Controller for OnRobot VG10 / VGC10 via Modbus/TCP

Installation

$ git clone git@github.com:takuya-ki/onrobot.git catkin_ws/src; cd catkin_ws
$ sudo rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y --os=ubuntu:focal -y
$ catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3

Usage

1. Connect the cable between Compute Box and Tool Changer
2. Connect an ethernet cable between Compute Box and your computer
3. Execute programs

RG2 / RG6

Send motion commands

$ roslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6]
$ rosrun onrobot_rg_control OnRobotRGSimpleController.py

Visualize a model

$ roslaunch onrobot_rg6_visualization disp_onrobot_rg6_model.launch
$ roslaunch onrobot_rg2_visualization disp_onrobot_rg2_model.launch

VG10 / VGC10

Send motion commands

$ roslaunch onrobot_vg_control bringup.launch
$ rosrun onrobot_vg_control OnRobotVGSimpleController.py  

Visualize a model

$ roslaunch onrobot_vgc10_visualization disp_onrobot_vgc10_model.launch
$ roslaunch onrobot_vg10_visualization disp_onrobot_vg10_model.launch

Author / Contributor

Takuya Kiyokawa

License

This software is released under the MIT License, see LICENSE.