机械抓安装

１．　机械抓驱动在ubuntu 16.04, ａｎａｃｏｎｄａ，ｒｏｓ环境中安装的.

由于机械抓是ｕｂｕｎｔｕ１４．０４版本，所以catkin_make之前，将内部文件做了修改

２．　anaconda 需要添加的库：

２．１　pymodbus库

下载地址为：https://github.com/riptideio/pymodbus

安装方法：

git clone git://github.com/bashwork/pymodbus.git
cd pymodbus
python setup.py install

２．２　pyserial库（pymodbus需要用）

下载地址：　https://github.com/pyserial/pyserial

安装方法：

　　　　在线的：conda install -c conda-forge pyserial

　　　　　　　或者：　pip install pyserial

由于本人网速超级慢，所以下载后安装的，安装方法

python setup.py install

３　安装ｓｅｏｍ

sudo apt-get install ros-ｋｉｎｅｔｉｃ-soem

４．　安装后的操作

插上机械抓ＵＳＢ

dmesg | grep tty

sudo chmod +777 /dev/ttyUSB1

然后运行：

ｒｏｓｃｏｒｅ

rosrun robotiq_c_model_control CModelRtuNode.py /dev/ttyUSB0

rosrun robotiq_c_model_control CModelSimpleController.py

５．　修改的命令

＃．ｌａｕｎｃｈ
<node name="wgb_control" pkg="robotiq_c_model_control" type="CModelRtuNode.py"/>
＃　ｓｐｙｄｅｒ
 pub = rospy.Publisher('CModelRobotOutput', outputMsg.CModel_robot_output)
    command = outputMsg.CModel_robot_output();
             
    command.rACT = 1
    command.rGTO = 1
    command.rATR = 0                
    i=0
    command.rFR  = 150         
    command.rSP = 100

    while not rospy.is_shutdown():
        i = i+1
        try:
            joint_states = rospy.wait_for_message("joint_states", JointState)
            joints_pos = joint_states.position
            print("wgb", joints_pos)
            d = 10.0
    #        g.trajectory.points = [JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0))]
            print("wgbwgb----------------------------------------------------------")
    
#            for i in range(2):
    #            g.trajectory.points.append(
    #                JointTrajectoryPoint(positions=Q1, velocities=[0]*6, time_from_start=rospy.Duration(d)))
            g.trajectory.points = [JointTrajectoryPoint(positions=joints_pos, velocities=[0]*6, time_from_start=rospy.Duration(0.0))]
            g.trajectory.points.append(
                JointTrajectoryPoint(positions=Q1, velocities=[0.001]*6, time_from_start=rospy.Duration(d)))
            d += 20
            g.trajectory.points.append(
                JointTrajectoryPoint(positions=Q2, velocities=[0]*6, time_from_start=rospy.Duration(d)))
            d += 2
            g.trajectory.points.append(
                JointTrajectoryPoint(positions=Q3, velocities=[0]*6, time_from_start=rospy.Duration(d)))
            d += 40
            client.send_goal(g)
    
        
            print("gripper888888888888888888888888888888888888888888888888883: i%2 = " )
#####################################################################################################################################################
            command.rPR  = (i%2) * 255
            pub.publish(command)
            rospy.sleep(2)
            client.wait_for_result()    


        
        
#        client.send_goal(g)
#        client.wait_for_result()
        except KeyboardInterrupt:
            client.cancel_goal()
            raise
        except:
            raise

６．