ROS drivers for OnRobot Grippers. This repository was inspired by ros-industrial/robotiq.
- Ubuntu 20.04 PC
- Controller for OnRobot RG2 / RG6 via Modbus/TCP
- Controller for OnRobot VG10 / VGC10 via Modbus/TCP
- pymodbus==2.5.3
- roboticsgroup/roboticsgroup_upatras_gazebo_plugins
cd catkin_ws/src && git clone https://github.com/takuya-ki/onrobot.git --depth 1 && git clone https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git --depth 1 && cd ../ && sudo rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y --os=ubuntu:focal -y && sudo apt install ros-noetic-ros-control ros-noetic-ros-controllers && catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3- Connect the cable between Compute Box and Tool Changer
- Connect an ethernet cable between Compute Box and your computer
- Execute programs (Please refer to onrobot/Tutorials)
roslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6] ip:=XXX.XXX.XXX.XXXrosrun onrobot_rg_control OnRobotRGSimpleController.pyroslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6] ip:=XXX.XXX.XXX.XXXrosrun onrobot_rg_control OnRobotRGSimpleControllerServer.pyrosservice call /onrobot_rg/set_command crosservice call /onrobot_rg/set_command orosservice call /onrobot_rg/set_command '!!str 300'rosservice call /onrobot_rg/restart_powerroslaunch onrobot_rg_description disp_rg6_model.launchroslaunch onrobot_rg_description disp_rg2_model.launch
roslaunch onrobot_rg_gazebo bringup_rg6_gazebo.launchrostopic pub -1 /onrobot_rg6/joint_position_controller/command std_msgs/Float64 "data: 0.5"roslaunch onrobot_rg_gazebo bringup_rg2_gazebo.launchrostopic pub -1 /onrobot_rg2/joint_position_controller/command std_msgs/Float64 "data: 0.5"
roslaunch onrobot_vg_control bringup.launch ip:=YYY.YYY.YYY.YYYrosrun onrobot_vg_control OnRobotVGSimpleController.py roslaunch onrobot_vg_control bringup.launch ip:=YYY.YYY.YYY.YYYrosrun onrobot_vg_control OnRobotVGSimpleControllerServer.pyrosservice call /onrobot_vg/set_command grosservice call /onrobot_vg/set_command rrosservice call /onrobot_vg/set_command '!!str 128'roslaunch onrobot_vg_description disp_vgc10_1cup_model.launchroslaunch onrobot_vg_description disp_vgc10_4cups_model.launchroslaunch onrobot_vg_description disp_vg10_model.launchThis software is released under the MIT License, see LICENSE.