Robotiq ROS Driver for 2F-85 Gripper

This repository provides the ROS driver for controlling the Robotiq 2F-85 Gripper. The package includes the URDF model of the 2F-85 Gripper with Gazebo support. Additionally, it features a Gripper Action Server that can be easily utilized by MoveIt to control the gripper.

This repository is a fork of the original jr-robotics/robotiq repository. Only the necessary packages for the 2F-85 Gripper have been retained and modified, while support for the 2F-140 and 3F grippers has been removed.

Features

• Added I/O coupling to the gripper URDF.
• The gripper URDF includes an optional cable protector that is compatible with I/O coupling.
• Gazebo support for the gripper URDF with correct 4-bar linkage on both fingers and mimic joint plugin.
• Fixed minor bugs and errors in the action server and Modbus RTU from the original fork to ensure proper functionality with the real gripper.

Compatibility

This driver has only been tested on ROS Noetic.

Installation

To get started, follow these steps:

1. Install the main Python dependency, pymodbus version 2.1.0, using the following command:

   pip3 install pymodbus===2.1.0
   

2. Clone this repository:

   git clone https://github.com/ian-chuang/robotiq
   

3. Optionally, if you wish to control both fingers in Gazebo using the mimic joint plugin, clone the mimic joint plugin repository:

   git clone https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git
   

4. Navigate to your ROS workspace's source directory and install dependencies:

   cd ~/<your_workspace>/src
   rosdep install -y --from-paths . --ignore-src --rosdistro ${ROS_DISTRO}
   

5. Build the workspace:

   cd ~/<your_workspace>
   catkin build
   

Usage

1. Control the Real Gripper using either Publisher Subscriber or Gripper Action Server:

   roslaunch robotiq_2f_gripper_control robotiq_2f_85_gripper_rtu.launch port:=<port defaults to /tmp/ttyUR>
   

2. Visualize the Gripper URDF in RViz:

   roslaunch robotiq_2f_85_gripper_description view_robotiq_2f_85.launch
   

Feel free to explore and integrate this ROS driver to efficiently control and simulate the Robotiq 2F-85 Gripper in your projects. For additional details, refer to the original jr-robotics/robotiq repository.