robotiq 夹爪使用解读

硬件知识

ur3 有效载荷3kg

上一节将模型框架搭出来了。
robotiq夹爪官方的包并没有提供gazebo仿真的功能。

github这里给到的介绍比较少，说是直接看ros wiki 页面。

The ROS-Industrial consortia are not involved: for historical reasons,
the robotiq repository is hosted on the ros-industrial Github
organisation, but there is no direct link with any of the other
repositories there.

Please direct support requests to dof.robotiq.com. The tracker here is
not monitored by Robotiq employees.

https://blog.csdn.net/qq_44642372/article/details/123995916
他这里也提到了在gazebo中仿真会散架。
所以他换了个夹爪。
我看到别人成功的案例。换了别人包里的robotiq夹爪。

robotiq夹爪使用

http://wiki.ros.org/robotiq
robotiq官网

注意：只有配置了Modbus TCP或Modbus RTU协议的夹具才能使用堆栈进行控制。

Modbus TCP:
rosdep install robotiq_modbus_tcp
The EtherCAT soem library is also required to build the Robotiq package. It can be downloaded from debs by
sudo apt-get install ros-kinetic-soem

sudo usermod -a -G dialout $USER

2f-85 kinetic

roswiki链接

This tutorial explains how to use the “robotiq_2f_gripper_control” and
“robotiq_modbus_tcp” packages to control an 2-Finger Gripper
configured with the Modbus RTU protocol.

robotiq ft sensor

Package for reading data from a Robotiq Force Torque Sensor

robotiq_modbus_tcp

A stack to communicate with Robotiq grippers using the Modbus TCP protocol

预先条件

需要通过USB先进行夹爪上的连接。
通过TCP协议控制夹爪，他这里要先看三指夹爪的教程。

• 连接网络
  夹爪默认地址192.168.1.11
• ros控制
  IP地址必须作为一个参数。

rosrun robotiq_3f_gripper_control Robotiq3FGripperTcpNode.py 192.168.1.11

https://blog.csdn.net/gyxx1998/article/details/118710774

三指夹爪用到TCP
二指夹爪用到了RTU

二指夹爪控制

driver node

rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB0

simple controller node
他这里我猜测
话题： listens for messages on "Robotiq2FGripperRobotOutput
信息：using the “Robotiq2FGripper_robot_output” msg type.
The “Robotiq2FGripper_robot_output” msg type is simply composed of the robot output variables described in the Robotiq 2-Finger Gripper Instruction Manual.

rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py

状态监听节点

The driver publishes the status of the Gripper on
“Robotiq2FGripperRobotInput” using the “Robotiq2FGripper_robot_input”
msg type.
The msg type is composed of the robot input variables described in the Robotiq 2-Finger Gripper Instruction Manual.

rosrun robotiq_2f_gripper_control Robotiq2FGripperStatusListener.py