RISE ABB Robotiq Grippers ROS Manipulation Package

1. How to Install

1.1. System Requirements

This package is written an tested on Ubuntu 18.04 + ROS Melodic environment. Dependencies are also for this environment.

Note: the same package can work in Ubuntu 16.04 + ROS Kinetic

1.2. Dependencies Prerequisites

There are a number of dependencies in this package, since the ABB robot is operated by ROS-Industrial package. Please install all the packages listed below in your Ubuntu PC, in the given order. These packages can be installed by apt package manager.

ros-melodic-desktop-full
ros-melodic-joint-state-publisher-gui

Now,Extract the metapackage Robotiq-grippers into ${ros_workspace}/src. catkin_make your workspace.

2. Structure of Packages

robotiq_2f_85_description: This package contains the URDF and XACRO files of the two finger paralell gripper.
robotiq_2f_gripper_control: This package contains the control of the two finger gripper using a program or get the movement from \joint_states.
robotiq_3f_description: This package contains the URDF and XACRO files of the three finger gripper.
robotiq_3f_gripper_control: This package contains the control of the thre finger gripper using a program or get the movement from \joint_states.
grippers_communication: This folders contains the package communications with the real grippers.

3. How to Use

3.1. Simulation

Open terminal and roscore and Enter.

Launch the robot visualization Rviz

roslaunch robotiq_2f_85_description display.launch

roslaunch robotiq_3f_description display.launch

3.2. Real Robot

Connect the Gripper with DC power and the USB and turn on.

Open terminal and sudo chmod 666 /dev/ttyUSB0 (You need know wich is the port of the gripper ls /dev/tty*)

Launch the communication and the control of the gripper

roslaunch robotiq_2f_gripper_control robotiq_2f_gripper_control.launch usb:=/dev/ttyUSB0