robotiq_ros

This repo holds source code for ROS (indigo).

Prerequisites

1. Install Ros (indigo). See: ROS indigo
2. Install Moveit and other dependencies.

sudo apt-get install ros-indigo-moveit ros-indigo-moveit-full-pr2 ros-indigo-soem ros-indigo-controller-manager ros-indigo-socketcan-bridge

3. Install UR packages.

sudo apt-get install ros-indigo-universal-robot

Installation

1. Clone the repo into your workspace.

cd <YOUR WORKSPACE>/src/
git clone https://github.com/littleblakew/robotiq_ros.git

2. Compile the packages.

cd ..
catkin_make

3. Install robotiq_modbus_tcp.

rosdep install robotiq_modbus_tcp 

Configuration

[Gripper] See: S-Gripper

[FT300]

1. Enter the robotiq_ros folder
2. Copy the rule "udev/52-ftdi.rules" into "/etc/udev/rules.d"

sudo cp /robotiq_force_torque_sensor/udev/52-ftdi.rules /etc/udev/rules.d

3. Reconnect the usb of FT300.
4. Check the new name of device of FT300, which is supposed to be "/dev/ftdi_XXXXXXXX".
5. Replace the old name of device of FT300 in "robotiq_force_torque_sensor/launch/ft_300.launch" with the new name of device of FT300.

Usage

[Gripper]

rosrun robotiq_s_model_control SModelTcpNode.py 192.168.1.11 
rosrun robotiq_s_model_control SModelSimpleController.py 

[F/T Sensor]

roslaunch robotiq_force_torque_sensor ft_300.launch

Reference

1. https://github.com/ros-industrial/robotiq
2. https://github.com/ibaranov-cp/husky_UR_accessories