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robotiq_3f_ros_pkg

Description

ROS wrapper package that provides functions related to 3-Finger Gripper control of robotiq package(https://github.com/ros-industrial/robotiq) as ROS service

Dependency

Install

$ cd your_ws/src
$ git clone https://github.com/Nishida-Lab/robotiq.git
$ git clone https://github.com/Nishida-Lab/robotiq_3f_ros_pkg.git
$ cd ..
$ rosdep install -iry --from-paths src
$ catkin build

Available ROS services

/robotiq_3f_gripper/activate
/robotiq_3f_gripper/reset
/robotiq_3f_gripper/open_hand
/robotiq_3f_gripper/close_hand
/robotiq_3f_gripper/set_mode
/robotiq_3f_gripper/set_position
/robotiq_3f_gripper/set_speed
/robotiq_3f_gripper/set_torque
/robotiq_3f_gripper/get_mode
/robotiq_3f_gripper/get_position
/robotiq_3f_gripper/get_speed
/robotiq_3f_gripper/get_torque

Available gripper mode

  • basic
  • pinch
  • wide
  • scissor

Usage

$ roslaunch robotiq_3f_driver listener.launch ip_address:=192.168.1.11

then, ROS services and gripper will be activated.

CI

See here for detail decumentation.

Replace the repository specific keywords in the above link as follows:

  • <your_repo> -> robotiq_3f_ros_pkg
  • <your_pkg> -> robotiq_3f_control, robotiq_3f_description, robotiq_3f_driver, robotiq_3f_gazebo, robotiq_3f_srvs
  • <your_rosinstall_dir> -> .