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robotiq

Meshes

Gazebo simulation pipeline

  • roslaunch robotiq_s_model_articulated_gazebo robotiq_gripper_empty_world.launch
  • libRobotiqHandPlugin_controlMsg.so here will publish the joint states of the gripper to /left_hand/joint_states - This /left_hand/joint_states is defined here
  • And then the joint_state_publisher will publish the information at /left_hand/joint_states inside the \source_list forward to /joint_states.
  • Then the robot_state_publisher will use the information at /joint_states to publish the tf, so in RVIZ, you can view the robot using RobotModel.

Usage

  • http://gazebosim.org/tutorials?tut=drcsim_robotiq_hand&cat=

  • roslaunch robotiq_s_model_articulated_gazebo robotiq_gripper_empty_world.launch

  • To close it half-way

    • If we are using the RobotiqHandPlugin plugin
      • rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,127,255,0,155,0,0,255,0,0,0,0,0}
      • all the way
        • rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,255,255,0,155,0,0,255,0,0,0,0,0}
    • If we are using the RobotiqHandPlugin_controlMsg plugin
      • rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,255,0,155,0,0,255,0,0,0,0,0,0}
      • all the way
        • rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,255,0,255,0,0,255,0,0,0,0,0,0}
  • To fully open it

    • If we are using the RobotiqHandPlugin plugin
      • rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,0,0,0,155,0,0,0,0,0,0,0,0}
    • If we are using the RobotiqHandPlugin_controlMsg plugin
      • rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0}

Supports for Gazebo 7 on indigo

  • You have to add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") to CMakeLists.txt
  • Then for the Gazebo plugin c++ files, you might have to change const to constexpr. Otherwise it won't compile.

About

ROS-Industrial Robotiq meta-package (http://wiki.ros.org/robotiq)

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  • C++ 80.0%
  • Python 15.4%
  • CMake 4.1%
  • C 0.5%