├── .gitignore ├── README.md ├── robotiq_2f_140_gripper_visualization ├── CMakeLists.txt ├── README.md ├── launch │ └── test_2f_140_model.launch ├── meshes │ ├── collision │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ └── robotiq_arg2f_coupling.stl │ └── visual │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ ├── robotiq_arg2f_base_link.stl │ │ └── robotiq_arg2f_coupling.stl ├── package.xml ├── urdf │ ├── robotiq_arg2f.xacro │ ├── robotiq_arg2f_140_model.xacro │ ├── robotiq_arg2f_140_model_macro.xacro │ └── robotiq_arg2f_transmission.xacro └── visualize.rviz ├── robotiq_2f_85_gripper_visualization ├── CMakeLists.txt ├── README.md ├── launch │ └── test_2f_85_model.launch ├── meshes │ ├── collision │ │ ├── robotiq_arg2f_85_base_link.stl │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ └── robotiq_arg2f_base_link.stl │ └── visual │ │ ├── robotiq_arg2f_85_base_link.dae │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ ├── robotiq_arg2f_85_pad.dae │ │ └── robotiq_gripper_coupling.stl ├── package.xml ├── urdf │ ├── robotiq_arg2f.xacro │ ├── robotiq_arg2f_85_model.xacro │ ├── robotiq_arg2f_85_model_macro.xacro │ └── robotiq_arg2f_transmission.xacro └── visualize.rviz ├── robotiq_2f_gripper_control ├── CMakeLists.txt ├── include │ └── robotiq_2f_gripper_control │ │ └── robotiq_gripper_client.h ├── launch │ ├── robotiq_action_server.launch │ ├── robotiq_dual_action_server.launch │ ├── test_140mm_gripper.launch │ └── test_85mm_gripper.launch ├── package.xml ├── scripts │ ├── robotiq_2f_action_client_example.py │ └── robotiq_2f_action_server.py ├── setup.py └── src │ └── robotiq_2f_gripper_control │ ├── __init__.py │ ├── modbus_crc.py │ ├── robotiq_2f_gripper.py │ └── robotiq_2f_gripper_driver.py ├── robotiq_2f_gripper_msgs ├── CMakeLists.txt ├── action │ └── CommandRobotiqGripper.action ├── msg │ ├── RobotiqGripperCommand.msg │ └── RobotiqGripperStatus.msg └── package.xml └── robotiq_modbus_rtu ├── CMakeLists.txt ├── mainpage.dox ├── package.xml ├── setup.py └── src └── robotiq_modbus_rtu ├── __init__.py └── comModbusRtu.py /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | .vscode/ 3 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | This package contains the necesary files to connect and control the Robotiq 2 finger adaptive grippers (85mm and 140mm stroke) of the `C` series through a **USB port using the Modbus RTU communication protocol**. (Currently only URDF descriptions of models C3 are available) 2 | 3 | ![C3 models](https://user-images.githubusercontent.com/8356912/52115661-78872b00-260f-11e9-8eb3-960747131df6.jpg) 4 | 5 | Note: This package is based on [waypointrobotics/robotiq_85_gripper](https://github.com/waypointrobotics/robotiq_85_gripper) and [ros-industrial/robotiq](https://github.com/ros-industrial/robotiq), with many code changes and feature inclusions as: 6 | 7 | - Use of ros `actionlib` Action Server/Clients to properly connect, control and command the grippers. 8 | - Gripper driver joint position update to `/joint_state` topic. 9 | - Simulation of grippers operation. 10 | - Configuration of collision meshes as simplified convex hulls of the visual meshes for both 85mm and 140mm stroke grippers. 11 | - Helper functions and examples for python and C++. 12 | 13 | *A pull request to this packages requires further analysis since I performed many structural changes, which will create conflict for previous users.* 14 | ### Ros Distro 15 | This package has been tested on `Kinetic` and `Melodic`. 16 | # Contents 17 | - [Contents](#contents) 18 | - [Operation Instructions](#operation-instructions) 19 | - [Serial Port Configuration](#serial-port-configuration) 20 | - [Test communication and control](#test-communication-and-control) 21 | - [Documentation](#documentation) 22 | - [Control Robotiq gripper/s](#control-robotiq-grippers) 23 | - [Node `robotiq_2f_action_server`](#node-robotiq2factionserver) 24 | - [Arguments:](#arguments) 25 | - [Action type:](#action-type) 26 | - [Command gripper through an instance of a `SimpleActionClient` in Python](#command-gripper-through-an-instance-of-a-simpleactionclient-in-python) 27 | - [Command gripper through an instance of a `SimpleActionClient` in C++](#command-gripper-through-an-instance-of-a-simpleactionclient-in-c) 28 | - [Operation of Multiple Grippers](#operation-of-multiple-grippers) 29 | # Operation Instructions 30 | 31 | Prior to executing control of the grippers make sure you have connected a [_2-finger adaptive gripper model_](https://robotiq.com/support/2-finger-adaptive-robot-gripper) to a USB port of your computer. The RS-485 to USB converter _ACC-ADT-USB-RS485_ that comes by default when you order these grippers allow connecting the 2-finger gripper directly to a computer through a USB 2.0 port using Modbus RTU communication protocol. 32 | ## Serial Port Configuration 33 | 34 | To control the gripper over a serial port, you may need to give proper privileges to the user: 35 | ``` 36 | sudo adduser dialout 37 | ``` 38 | To find out the port on which the controller is connected, use: 39 | ``` 40 | dmesg | grep tty 41 | ``` 42 | The output should look something similar to: 43 | ``` 44 | [####.#####] USB 1-2: FTDI USB Serial Device converter now attached to ttyUSB0 45 | ``` 46 | ## Test communication and control 47 | 48 | On a new terminal type the following line: 49 | ``` 50 | # Connect and move 85 mm gripper 51 | roslaunch robotiq_2f_gripper_control test_85mm_gripper.launch comport:="" 52 | # Simulate 85mm gripper 53 | roslaunch robotiq_2f_gripper_control test_85mm_gripper.launch sim:=true 54 | ``` 55 | This launch file starts a `robotiq_action_server` and an example action client which recursively commands the the real gripper *or simulated one) with diferent poses/speeds while updating the gripper joints on `rviz`. 56 | 57 | ![gripper operation](https://user-images.githubusercontent.com/8356912/52121064-a0ca5600-261e-11e9-8ad1-6b2855f11909.gif) 58 | 59 | # Documentation 60 | ## Control Robotiq gripper/s 61 | The control of both 140mm and 85mm stroke robotiq grippers is done though an `actionlib` client-server interaction (see actionlib [documentation](http://wiki.ros.org/actionlib)). 62 | 63 | ![robotiq_actionlib_structure](https://user-images.githubusercontent.com/8356912/50008462-8d065a00-ffb4-11e8-931b-d686bf16c414.png) 64 | *** 65 | ### Node `robotiq_2f_action_server` 66 | This node creates an instance of an action server that will handle the gripper connection, initialization, joint state publishing, and control by listening for incoming goals on the action name `command_robotiq_action`. It offers also the option to simulate a gripper response to incoming goals. 67 | 68 | #### Arguments: 69 | - `sim`: Whether to use a simulated gripper or not 70 | - `comport`: Communication port to which the gripper is connected. 71 | - `baud`: Communication baud rate (must be the same baud rate as configured on the gripper) 72 | - `stroke`: Stroke of the gripper (maximum distance between fingers) currently only 0.085m or 0.140m values are supported. 73 | - `joint_name`: Name of the gripper driver joint as defined in your robot URDF description. This parameter is used to publish the state of the gripper joint on the `/joint_states` topic. Default is `finger_joint`. 74 | - `rate`: Frequency in Hz to send/request of data to the gripper and update of joint state. 75 | 76 | #### Action type: 77 | [`CommandRobotiqGripper.action`](https://github.com/Danfoa/robotiq_2finger_grippers/blob/master/robotiq_2f_gripper_msgs/action/CommandRobotiqGripper.action) (see action declaration for `goal`, `feedback` and `result` message fields) 78 | 79 | or 80 | 81 | [`FollowJointTrajectory.action`](http://docs.ros.org/api/control_msgs/html/action/FollowJointTrajectory.html) (see action declaration for `goal`, `feedback` and `result` message fields): This is the default control scheme from MoveIt!, meaning that with the appropiate configuration you can plan and command the gripper through the MoveIt!-Rviz GUI, and through Pick and Place operations. 82 | 83 | Note: The Action Server will only become active and ready after Robotiq gripper has been propertly initialized (see robotiq documentation). 84 | 85 | *** 86 | ### Command gripper through an instance of a `SimpleActionClient` in Python 87 | An example action client implementation is provided on the script [`robotiq_2f_action_client_example.py`](https://github.com/Danfoa/robotiq_2finger_grippers/blob/master/robotiq_2f_gripper_control/scripts/robotiq_2f_action_client_example.py), showing how to initialize the client, create custom goals, and use predefined functions for fast control of the gripper, position, speed and force. But basically you just need to: 88 | 89 | Import the Action messages and actionlib library 90 | ``` 91 | import actionlib 92 | from robotiq_2f_gripper_msgs.msg import CommandRobotiqGripperFeedback, CommandRobotiqGripperResult, CommandRobotiqGripperAction, CommandRobotiqGripperGoal 93 | from robotiq_2f_gripper_control.robotiq_2f_gripper_driver import Robotiq2FingerGripperDriver as Robotiq 94 | ``` 95 | Instantiate the action client 96 | ``` 97 | action_name = 'command_robotiq_action' # Use your action server namespace if necesary 98 | # Create an action client 99 | robotiq_client = actionlib.SimpleActionClient(action_name, CommandRobotiqGripperAction) 100 | # Wait until grippers are ready to take command (communication is stablished and gripper is activated) 101 | robotiq_client.wait_for_server() 102 | ``` 103 | Command your robotiq gripper 104 | ``` 105 | # Use pre-defined functions for robot gripper manipulation. 106 | Robotiq.close(robotiq_client, block=True) # Close and wait until completion 107 | Robotiq.open(robotiq_client, block=False) # Open and do not block thread while completing goal 108 | Robotiq.goto(robotiq_client, pos=0.04, speed=0.1, force=10, block=True) # Send command Pose[m], speed[m/s], force [%] 109 | Robotiq.emergency_release(robotiq_client) # Slowly open gripper and deactivate it 110 | ``` 111 | ### Command gripper through an instance of a `SimpleActionClient` in C++ 112 | Import the Action messages and actionlib library 113 | ``` 114 | #include 115 | #include 116 | #include 117 | 118 | typedef robotiq_2f_gripper_control::RobotiqActionClient RobotiqActionClient; 119 | ``` 120 | Instantiate a `RobotiqActionClient` class 121 | ``` 122 | std::string action_name = "/command_robotiq_action"; 123 | bool wait_for_server = true; // Wait for Action Server connection (gripper is ready and activated) 124 | RobotiqActionClient* gripper = new RobotiqActionClient(action_name, wait_for_server); 125 | ``` 126 | Command your robotiq gripper 127 | ``` 128 | gripper.close(speed, force, false); // Close and do not wait 129 | gripper.close(); // Block thread until gripper is closed. 130 | gripper.open(); 131 | gripper.goToPosition( position, speed, force, true); 132 | ``` 133 | *** 134 | ## Operation of Multiple Grippers 135 | To control multiple grippers simultaneously you need to correctly namespace the grippers Action service and client nodes. A correct example is provided in the [`robotiq_dual_action_server.launch`](https://github.com/Danfoa/robotiq_2finger_grippers/blob/master/robotiq_2f_gripper_control/launch/robotiq_dual_action_server.launch) file. 136 | 137 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_2f_140_gripper_visualization) 3 | find_package(catkin REQUIRED) 4 | catkin_package() 5 | 6 | install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 7 | install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 8 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/README.md: -------------------------------------------------------------------------------- 1 | # Robotiq 140mm 2-Finger-Adaptive-Gripper 2 | 3 | This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**. 4 | 5 | To test the gripper URDF description type 6 | 7 | ``` 8 | roslaunch robotiq_2f_140_gripper_visualization test_2f_140_model.launch 9 | ``` 10 | ## Robot Visual 11 | ![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png) 12 | 13 | ## Robot Collision 14 | ![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png) 15 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/launch/test_2f_140_model.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- 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9 | Jean-Philippe Roberge 10 | Daniel Ordonez 11 | 12 | catkin 13 | 14 | urdf 15 | 16 | 17 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model_macro.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | PositionJointInterface 8 | 9 | 10 | 1 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /robotiq_2f_140_gripper_visualization/visualize.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /RobotModel1 8 | - /RobotModel1/Link/Joint Tree1 9 | Splitter Ratio: 0.57432431 10 | Tree Height: 815 11 | - Class: rviz/Selection 12 | Name: Selection 13 | - Class: rviz/Tool Properties 14 | Expanded: 15 | - /2D Pose Estimate1 16 | - /2D Nav Goal1 17 | - /Publish Point1 18 | Name: Tool Properties 19 | Splitter Ratio: 0.588679016 20 | - Class: rviz/Views 21 | Expanded: 22 | - /Current View1 23 | Name: Views 24 | Splitter Ratio: 0.5 25 | - Class: rviz/Time 26 | Experimental: false 27 | Name: Time 28 | SyncMode: 0 29 | SyncSource: "" 30 | Visualization Manager: 31 | Class: "" 32 | Displays: 33 | - Alpha: 1 34 | Class: rviz/RobotModel 35 | Collision Enabled: false 36 | Enabled: true 37 | Link/Joint Tree: 38 | All Links Enabled: true 39 | Expand Joint Details: false 40 | Expand Link Details: false 41 | Expand Tree: false 42 | Link Tree Style: Tree of links and joints 43 | robotiq_arg2f_base_link: 44 | Details: 45 | Alpha: 1 46 | Show Axes: false 47 | Show Trail: false 48 | Value: true 49 | finger_joint: 50 | Details: 51 | Show Axes: false 52 | Show Joint Axis: false 53 | Value: true 54 | left_outer_knuckle: 55 | Details: 56 | Alpha: 1 57 | Show Axes: false 58 | Show Trail: false 59 | Value: true 60 | left_outer_finger_joint: 61 | Details: 62 | Show Axes: false 63 | Value: true 64 | left_outer_finger: 65 | Details: 66 | Alpha: 1 67 | Show Axes: false 68 | Show Trail: false 69 | Value: true 70 | left_inner_finger_joint: 71 | Details: 72 | Show Axes: false 73 | Show Joint Axis: false 74 | Value: true 75 | left_inner_finger: 76 | Details: 77 | Alpha: 1 78 | Show Axes: false 79 | Show Trail: false 80 | Value: true 81 | left_inner_finger_pad_joint: 82 | Details: 83 | Show Axes: false 84 | Value: true 85 | left_inner_finger_pad: 86 | Details: 87 | Alpha: 1 88 | Show Axes: false 89 | Show Trail: false 90 | Value: true 91 | left_inner_knuckle_joint: 92 | Details: 93 | Show Axes: false 94 | Show Joint Axis: false 95 | Value: true 96 | left_inner_knuckle: 97 | Details: 98 | Alpha: 1 99 | Show Axes: false 100 | Show Trail: false 101 | Value: true 102 | right_inner_knuckle_joint: 103 | Details: 104 | Show Axes: false 105 | Show Joint Axis: false 106 | Value: true 107 | right_inner_knuckle: 108 | Details: 109 | Alpha: 1 110 | Show Axes: false 111 | Show Trail: false 112 | Value: true 113 | right_outer_knuckle_joint: 114 | Details: 115 | Show Axes: false 116 | Show Joint Axis: false 117 | Value: true 118 | right_outer_knuckle: 119 | Details: 120 | Alpha: 1 121 | Show Axes: false 122 | Show Trail: false 123 | Value: true 124 | right_outer_finger_joint: 125 | Details: 126 | Show Axes: false 127 | Value: true 128 | right_outer_finger: 129 | Details: 130 | Alpha: 1 131 | Show Axes: false 132 | Show Trail: false 133 | Value: true 134 | right_inner_finger_joint: 135 | Details: 136 | Show Axes: false 137 | Show Joint Axis: false 138 | Value: true 139 | right_inner_finger: 140 | Details: 141 | Alpha: 1 142 | Show Axes: false 143 | Show Trail: false 144 | Value: true 145 | right_inner_finger_pad_joint: 146 | Details: 147 | Show Axes: false 148 | Value: true 149 | right_inner_finger_pad: 150 | Details: 151 | Alpha: 1 152 | Show Axes: false 153 | Show Trail: false 154 | Value: true 155 | Name: RobotModel 156 | Robot Description: robot_description 157 | TF Prefix: "" 158 | Update Interval: 0 159 | Value: true 160 | Visual Enabled: true 161 | - Alpha: 0.5 162 | Cell Size: 1 163 | Class: rviz/Grid 164 | Color: 160; 160; 164 165 | Enabled: true 166 | Line Style: 167 | Line Width: 0.0299999993 168 | Value: Lines 169 | Name: Grid 170 | Normal Cell Count: 0 171 | Offset: 172 | X: 0 173 | Y: 0 174 | Z: 0 175 | Plane: XY 176 | Plane Cell Count: 10 177 | Reference Frame: 178 | Value: true 179 | Enabled: true 180 | Global Options: 181 | Background Color: 48; 48; 48 182 | Default Light: true 183 | Fixed Frame: robotiq_arg2f_base_link 184 | Frame Rate: 30 185 | Name: root 186 | Tools: 187 | - Class: rviz/Interact 188 | Hide Inactive Objects: true 189 | - Class: rviz/MoveCamera 190 | - Class: rviz/Select 191 | - Class: rviz/FocusCamera 192 | - Class: rviz/Measure 193 | - Class: rviz/SetInitialPose 194 | Topic: /initialpose 195 | - Class: rviz/SetGoal 196 | Topic: /move_base_simple/goal 197 | - Class: rviz/PublishPoint 198 | Single click: true 199 | Topic: /clicked_point 200 | Value: true 201 | Views: 202 | Current: 203 | Class: rviz/Orbit 204 | Distance: 0.409954339 205 | Enable Stereo Rendering: 206 | Stereo Eye Separation: 0.0599999987 207 | Stereo Focal Distance: 1 208 | Swap Stereo Eyes: false 209 | Value: false 210 | Focal Point: 211 | X: -0.00203653378 212 | Y: 0.00489575882 213 | Z: 0.0903690681 214 | Focal Shape Fixed Size: true 215 | Focal Shape Size: 0.0500000007 216 | Invert Z Axis: false 217 | Name: Current View 218 | Near Clip Distance: 0.00999999978 219 | Pitch: 0.265203476 220 | Target Frame: 221 | Value: Orbit (rviz) 222 | Yaw: 0.352224886 223 | Saved: ~ 224 | Window Geometry: 225 | Displays: 226 | collapsed: false 227 | Height: 1028 228 | Hide Left Dock: false 229 | Hide Right Dock: false 230 | QMainWindow State: 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231 | Selection: 232 | collapsed: false 233 | Time: 234 | collapsed: false 235 | Tool Properties: 236 | collapsed: false 237 | Views: 238 | collapsed: false 239 | Width: 1558 240 | X: 322 241 | Y: 24 242 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_2f_85_gripper_visualization) 3 | find_package(catkin REQUIRED) 4 | catkin_package() 5 | 6 | install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 7 | install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 8 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/README.md: -------------------------------------------------------------------------------- 1 | # Robotiq 85mm 2-Finger-Adaptive-Gripper 2 | 3 | This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**. 4 | 5 | To test the gripper URDF description type 6 | 7 | ``` 8 | roslaunch robotiq_2f_85_gripper_visualization test_2f_85_model.launch 9 | ``` 10 | ## Robot Visual 11 | ![85](https://user-images.githubusercontent.com/8356912/49428405-45a6ef00-f7a6-11e8-822b-c6870c39d445.png) 12 | 13 | ## Robot Collision 14 | ![852](https://user-images.githubusercontent.com/8356912/49428404-450e5880-f7a6-11e8-82a8-564247ebe7fc.png) 15 | 16 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/launch/test_2f_85_model.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Danfoa/robotiq_2finger_grippers/4a98b19a83e73c2adadb4deb8b1406153e0ddcf9/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_base_link.stl -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_finger.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | VCGLab 6 | VCGLib | MeshLab 7 | 8 | Mon Dec 3 16:35:50 2018 GMT 9 | Mon Dec 3 16:35:50 2018 GMT 10 | Y_UP 11 | 12 | 13 | 14 | 15 | 16 | 7 -18.9031 44.5146 -7 -13.9031 44.5149 -7 -18.9031 44.5146 7 -13.9031 44.5149 -7 -23.9018 13.5144 7 -23.9018 13.5144 -7 5.563 2.24789 7 5.563 2.24789 -7 -1.45127 -5.82184 7 -0.834774 -5.94165 7 -1.45127 -5.82184 -7 -0.834774 -5.94165 7 -2.05187 -5.63825 -7 -2.05187 -5.63825 -7 -19.9533 0.87644 7 -19.9533 0.87644 -7 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40 | 41 |

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42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Danfoa/robotiq_2finger_grippers/4a98b19a83e73c2adadb4deb8b1406153e0ddcf9/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_pad.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 2016-07-17T22:25:43.361178 4 | 2016-07-17T22:25:43.361188 5 | Z_UP 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 0.0 0.0 0.0 1.0 14 | 15 | 16 | 0.0 0.0 0.0 1.0 17 | 18 | 19 | 0.7 0.7 0.7 1.0 20 | 21 | 22 | 1 1 1 1.0 23 | 24 | 25 | 0.0 26 | 27 | 28 | 0.0 0.0 0.0 1.0 29 | 30 | 31 | 0.0 32 | 33 | 34 | 0.0 0.0 0.0 1.0 35 | 36 | 37 | 1.0 38 | 39 | 40 | 41 | 42 | 43 | 0 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 4.38531e-14 -1 -4.451336e-05 4.38531e-14 -1 -4.451336e-05 -4.38531e-14 1 4.451336e-05 -4.38531e-14 1 4.451336e-05 -1 -4.385301e-14 -2.011189e-15 -1 -4.385301e-14 -2.011189e-15 -2.009237e-15 -4.451336e-05 1 -2.009237e-15 -4.451336e-05 1 1 4.385301e-14 2.011189e-15 1 4.385301e-14 2.011189e-15 2.009237e-15 4.451336e-05 -1 2.009237e-15 4.451336e-05 -1 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | -10 -23.90175 13.51442 10 -23.9033 48.51442 -10 -23.9033 48.51442 10 -23.90175 13.51442 -10 -18.90175 13.51464 -10 -18.9033 48.51464 10 -18.90175 13.51464 10 -18.9033 48.51464 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 |

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79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_gripper_coupling.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Danfoa/robotiq_2finger_grippers/4a98b19a83e73c2adadb4deb8b1406153e0ddcf9/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_gripper_coupling.stl -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_2f_85_gripper_visualization 4 | 1.0.0 5 | Robotiq ARG 2-Finger 85mm model C3 description package 6 | BSD 7 | http://ros.org/wiki/robotiq 8 | Daniel Ordonez 9 | Daniel Ordonez 10 | Jean-Philippe Roberge 11 | 12 | catkin 13 | 14 | urdf 15 | 16 | 17 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model_macro.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | transmission_interface/SimpleTransmission 6 | 7 | PositionJointInterface 8 | 9 | 10 | 1 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /robotiq_2f_85_gripper_visualization/visualize.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /RobotModel1 8 | - /RobotModel1/Link/Joint Tree1 9 | - /RobotModel1/Link/Joint Tree1/robotiq_arg2f_base_link1 10 | Splitter Ratio: 0.581532419 11 | Tree Height: 813 12 | - Class: rviz/Selection 13 | Name: Selection 14 | - Class: rviz/Tool Properties 15 | Expanded: 16 | - /2D Pose Estimate1 17 | - /2D Nav Goal1 18 | - /Publish Point1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.588679016 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Experimental: false 28 | Name: Time 29 | SyncMode: 0 30 | SyncSource: "" 31 | Visualization Manager: 32 | Class: "" 33 | Displays: 34 | - Alpha: 1 35 | Class: rviz/RobotModel 36 | Collision Enabled: false 37 | Enabled: true 38 | Link/Joint Tree: 39 | All Links Enabled: true 40 | Expand Joint Details: false 41 | Expand Link Details: false 42 | Expand Tree: false 43 | Link Tree Style: Tree of links and joints 44 | robotiq_arg2f_base_link: 45 | Details: 46 | Alpha: 1 47 | Show Axes: false 48 | Show Trail: false 49 | Value: true 50 | finger_joint: 51 | Details: 52 | Show Axes: false 53 | Show Joint Axis: false 54 | Value: true 55 | left_outer_knuckle: 56 | Details: 57 | Alpha: 1 58 | Show Axes: false 59 | Show Trail: false 60 | Value: true 61 | left_outer_finger_joint: 62 | Details: 63 | Show Axes: false 64 | Value: true 65 | left_outer_finger: 66 | Details: 67 | Alpha: 1 68 | Show Axes: false 69 | Show Trail: false 70 | Value: true 71 | left_inner_finger_joint: 72 | Details: 73 | Show Axes: false 74 | Show Joint Axis: false 75 | Value: true 76 | left_inner_finger: 77 | Details: 78 | Alpha: 1 79 | Show Axes: false 80 | Show Trail: false 81 | Value: true 82 | left_inner_finger_pad_joint: 83 | Details: 84 | Show Axes: false 85 | Value: true 86 | left_inner_finger_pad: 87 | Details: 88 | Alpha: 1 89 | Show Axes: false 90 | Show Trail: false 91 | Value: true 92 | left_inner_knuckle_joint: 93 | Details: 94 | Show Axes: false 95 | Show Joint Axis: false 96 | Value: true 97 | left_inner_knuckle: 98 | Details: 99 | Alpha: 1 100 | Show Axes: false 101 | Show Trail: false 102 | Value: true 103 | right_inner_knuckle_joint: 104 | Details: 105 | Show Axes: false 106 | Show Joint Axis: false 107 | Value: true 108 | right_inner_knuckle: 109 | Details: 110 | Alpha: 1 111 | Show Axes: false 112 | Show Trail: false 113 | Value: true 114 | right_outer_knuckle_joint: 115 | Details: 116 | Show Axes: false 117 | Show Joint Axis: false 118 | Value: true 119 | right_outer_knuckle: 120 | Details: 121 | Alpha: 1 122 | Show Axes: false 123 | Show Trail: false 124 | Value: true 125 | right_outer_finger_joint: 126 | Details: 127 | Show Axes: false 128 | Value: true 129 | right_outer_finger: 130 | Details: 131 | Alpha: 1 132 | Show Axes: false 133 | Show Trail: false 134 | Value: true 135 | right_inner_finger_joint: 136 | Details: 137 | Show Axes: false 138 | Show Joint Axis: false 139 | Value: true 140 | right_inner_finger: 141 | Details: 142 | Alpha: 1 143 | Show Axes: false 144 | Show Trail: false 145 | Value: true 146 | right_inner_finger_pad_joint: 147 | Details: 148 | Show Axes: false 149 | Value: true 150 | right_inner_finger_pad: 151 | Details: 152 | Alpha: 1 153 | Show Axes: false 154 | Show Trail: false 155 | Value: true 156 | Name: RobotModel 157 | Robot Description: robot_description 158 | TF Prefix: "" 159 | Update Interval: 0 160 | Value: true 161 | Visual Enabled: true 162 | - Alpha: 0.5 163 | Cell Size: 1 164 | Class: rviz/Grid 165 | Color: 160; 160; 164 166 | Enabled: true 167 | Line Style: 168 | Line Width: 0.0299999993 169 | Value: Lines 170 | Name: Grid 171 | Normal Cell Count: 0 172 | Offset: 173 | X: 0 174 | Y: 0 175 | Z: 0 176 | Plane: XY 177 | Plane Cell Count: 10 178 | Reference Frame: 179 | Value: true 180 | Enabled: true 181 | Global Options: 182 | Background Color: 48; 48; 48 183 | Default Light: true 184 | Fixed Frame: robotiq_arg2f_base_link 185 | Frame Rate: 30 186 | Name: root 187 | Tools: 188 | - Class: rviz/Interact 189 | Hide Inactive Objects: true 190 | - Class: rviz/MoveCamera 191 | - Class: rviz/Select 192 | - Class: rviz/FocusCamera 193 | - Class: rviz/Measure 194 | - Class: rviz/SetInitialPose 195 | Topic: /initialpose 196 | - Class: rviz/SetGoal 197 | Topic: /move_base_simple/goal 198 | - Class: rviz/PublishPoint 199 | Single click: true 200 | Topic: /clicked_point 201 | Value: true 202 | Views: 203 | Current: 204 | Class: rviz/Orbit 205 | Distance: 0.453161746 206 | Enable Stereo Rendering: 207 | Stereo Eye Separation: 0.0599999987 208 | Stereo Focal Distance: 1 209 | Swap Stereo Eyes: false 210 | Value: false 211 | Focal Point: 212 | X: -0.0555366687 213 | Y: 0.0123848282 214 | Z: 0.0355766453 215 | Focal Shape Fixed Size: true 216 | Focal Shape Size: 0.0500000007 217 | Invert Z Axis: false 218 | Name: Current View 219 | Near Clip Distance: 0.00999999978 220 | Pitch: 0.400203109 221 | Target Frame: 222 | Value: Orbit (rviz) 223 | Yaw: 0.257229745 224 | Saved: ~ 225 | Window Geometry: 226 | Displays: 227 | collapsed: false 228 | Height: 1026 229 | Hide Left Dock: false 230 | Hide Right Dock: false 231 | QMainWindow State: 000000ff00000000fd0000000100000000000001ff000003bcfc0200000005fb000000100044006900730070006c0061007900730100000028000003bc000000d700fffffffb0000001200530065006c0065006300740069006f006e0000000186000000a50000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007300000001d0000000c90000006100fffffffb0000000a00560069006500770073000000024100000159000000ad00fffffffb0000000800540069006d00650000000369000000990000003b00ffffff00000479000003bc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 232 | Selection: 233 | collapsed: false 234 | Time: 235 | collapsed: false 236 | Tool Properties: 237 | collapsed: false 238 | Views: 239 | collapsed: false 240 | Width: 1662 241 | X: 258 242 | Y: 24 243 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_2f_gripper_control) 3 | 4 | ## Compile as C++11, supported in ROS Kinetic and newer 5 | add_compile_options(-std=c++11) 6 | 7 | find_package(catkin REQUIRED 8 | genmsg 9 | actionlib_msgs 10 | actionlib 11 | robotiq_2f_gripper_msgs 12 | COMPONENTS 13 | roscpp 14 | rospy 15 | std_msgs 16 | robotiq_2f_gripper_msgs 17 | ) 18 | 19 | ## System dependencies are found with CMake's conventions 20 | # find_package(Boost REQUIRED COMPONENTS system) 21 | 22 | catkin_python_setup() 23 | 24 | ################################### 25 | ## catkin specific configuration ## 26 | ################################### 27 | ## The catkin_package macro generates cmake config files for your package 28 | ## Declare things to be passed to dependent projects 29 | ## INCLUDE_DIRS: uncomment this if your package contains header files 30 | ## LIBRARIES: libraries you create in this project that dependent projects also need 31 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 32 | ## DEPENDS: system dependencies of this project that dependent projects also need 33 | 34 | catkin_package( 35 | INCLUDE_DIRS include 36 | # LIBRARIES robotiq_2f_gripper_control 37 | CATKIN_DEPENDS std_msgs robotiq_2f_gripper_msgs 38 | # DEPENDS system_lib 39 | ) 40 | 41 | ########### 42 | ## Build ## 43 | ########### 44 | 45 | ## Specify additional locations of header files 46 | ## Your package locations should be listed before other locations 47 | include_directories( 48 | #include 49 | ${catkin_INCLUDE_DIRS} 50 | ) 51 | 52 | ## Declare a C++ library 53 | # add_library(${PROJECT_NAME} 54 | # src/${PROJECT_NAME}/robotiq_2f_gripper_control.cpp 55 | # ) 56 | 57 | 58 | ############# 59 | ## Install ## 60 | ############# 61 | 62 | catkin_install_python(PROGRAMS 63 | scripts/robotiq_2f_action_server.py 64 | scripts/robotiq_2f_action_client_example.py 65 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) 66 | 67 | ## Mark executables and/or libraries for installation 68 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 69 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 70 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 71 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 72 | # ) 73 | 74 | ## Mark cpp header files for installation 75 | install(DIRECTORY include/${PROJECT_NAME}/ 76 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 77 | FILES_MATCHING PATTERN "*.h" 78 | PATTERN ".svn" EXCLUDE 79 | ) -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/include/robotiq_2f_gripper_control/robotiq_gripper_client.h: -------------------------------------------------------------------------------- 1 | /* 2 | BSD 2-Clause License 3 | 4 | Copyright (c) 2019, Daniel Ordonez 5 | All rights reserved. 6 | 7 | Redistribution and use in source and binary forms, with or without 8 | modification, are permitted provided that the following conditions are met: 9 | 10 | 1. Redistributions of source code must retain the above copyright notice, this 11 | list of conditions and the following disclaimer. 12 | 13 | 2. Redistributions in binary form must reproduce the above copyright notice, 14 | this list of conditions and the following disclaimer in the documentation 15 | and/or other materials provided with the distribution. 16 | 17 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 20 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 21 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 22 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 23 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 24 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 25 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 26 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 | 28 | * File name: robotiq_gripper_client.h 29 | * 30 | * Description: 31 | * This header defines the `RobotiqActionClient` class which allows the user to connect and 32 | * control to the gripper action server in a higher level of abstraction. 33 | * 34 | * 35 | * Author: 36 | * Daniel Felipe Ordonez Apraez - daniels.ordonez@gmail.com 37 | */ 38 | 39 | #include 40 | #include 41 | // Robotiq msgs 42 | #include 43 | #include 44 | #include 45 | #include 46 | 47 | typedef robotiq_2f_gripper_msgs::CommandRobotiqGripperGoal CommandRobotiqGripperGoal; 48 | typedef robotiq_2f_gripper_msgs::CommandRobotiqGripperResult CommandRobotiqGripperResult; 49 | typedef robotiq_2f_gripper_msgs::CommandRobotiqGripperAction CommandRobotiqGripperAction; 50 | typedef robotiq_2f_gripper_msgs::CommandRobotiqGripperFeedback CommandRobotiqGripperFeedback; 51 | 52 | namespace robotiq_2f_gripper_control{ 53 | 54 | class RobotiqActionClient : actionlib::SimpleActionClient{ 55 | 56 | private: 57 | CommandRobotiqGripperGoal goal; 58 | 59 | public: 60 | RobotiqActionClient(std::string action_name, bool wait_for_server = true) 61 | : actionlib::SimpleActionClient(action_name, true){ 62 | if( wait_for_server ){ 63 | waitForServer( ros::Duration(10) ); 64 | if( !isServerConnected() ) 65 | ROS_ERROR( "Robotiq Action Server (%s) seems not to be running", action_name.c_str() ); 66 | } 67 | } 68 | 69 | void close(float speed = 0.1, float force = 220, bool wait = true){ 70 | goal.position = 0.0; 71 | goal.speed = speed; 72 | goal.force = force; 73 | goal.emergency_release = false; 74 | if( wait ) 75 | sendGoalAndWait( goal ); 76 | else 77 | sendGoal( goal ); 78 | } 79 | 80 | void open(float speed = 0.1, float force = 220, bool wait = true){ 81 | goal.position = 255; 82 | goal.speed = speed; 83 | goal.force = force; 84 | goal.emergency_release = false; 85 | if( wait ) 86 | sendGoalAndWait( goal ); 87 | else 88 | sendGoal( goal ); 89 | } 90 | 91 | void open(bool wait){ 92 | goal.position = 255; 93 | goal.speed = 0.01; 94 | goal.force = 10; 95 | goal.emergency_release = false; 96 | if( wait ) 97 | sendGoalAndWait( goal ); 98 | else 99 | sendGoal( goal ); 100 | } 101 | 102 | void goToPosition(float position, float speed = 0.1, float force = 220, bool wait = true){ 103 | goal.position = position; 104 | goal.speed = speed; 105 | goal.force = force; 106 | goal.emergency_release = false; 107 | if( wait ) 108 | sendGoalAndWait( goal ); 109 | else 110 | sendGoal( goal ); 111 | } 112 | 113 | }; 114 | 115 | } -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/launch/robotiq_action_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/launch/robotiq_dual_action_server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | w 36 | 37 | 38 | 39 | 41 | 42 | 43 | 44 | 45 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/launch/test_140mm_gripper.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | [/joint_states] 32 | false 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/launch/test_85mm_gripper.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | [/joint_states] 32 | false 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_2f_gripper_control 4 | 0.0.3 5 | The robotiq_2f_gripper_control package 6 | 7 | Daniel Ordonez 8 | 9 | BSD 10 | 11 | 12 | catkin 13 | 14 | rospy 15 | roscpp 16 | std_msgs 17 | rospy 18 | roscpp 19 | std_msgs 20 | rospy 21 | roscpp 22 | std_msgs 23 | 24 | actionlib 25 | actionlib_msgs 26 | actionlib 27 | actionlib_msgs 28 | 29 | robotiq_2f_gripper_msgs 30 | 31 | 32 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/scripts/robotiq_2f_action_client_example.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | """-------------------------------------------------------------------- 3 | This Node/Script shows an example on how to use a `SimpleActionClient` instance 4 | to control a Robotiq 2 Finger gripper. 5 | 6 | Parameters: 7 | action_name: Name of the action advertised by the `ActionServer` controlling the gripper. 8 | 9 | @author: Daniel Felipe Ordonez Apraez 10 | @email: daniels.ordonez@gmail.com 11 | --------------------------------------------------------------------""" 12 | 13 | import rospy 14 | 15 | # Brings in the SimpleActionClient 16 | import actionlib 17 | 18 | from robotiq_2f_gripper_msgs.msg import CommandRobotiqGripperFeedback, CommandRobotiqGripperResult, CommandRobotiqGripperAction, CommandRobotiqGripperGoal 19 | from robotiq_2f_gripper_control.robotiq_2f_gripper_driver import Robotiq2FingerGripperDriver as Robotiq 20 | 21 | def operate_gripper(): 22 | 23 | action_name = rospy.get_param('~action_name', 'command_robotiq_action') 24 | robotiq_client = actionlib.SimpleActionClient(action_name, CommandRobotiqGripperAction) 25 | # Wait until grippers are ready to take command 26 | robotiq_client.wait_for_server() 27 | 28 | rospy.logwarn("Client test: Starting sending goals") 29 | ## Manually set all the parameters of the gripper goal state. 30 | ###################################################################################### 31 | 32 | goal = CommandRobotiqGripperGoal() 33 | goal.emergency_release = False 34 | goal.stop = False 35 | goal.position = 0.00 36 | goal.speed = 0.1 37 | goal.force = 5.0 38 | 39 | # Sends the goal to the gripper. 40 | robotiq_client.send_goal(goal) 41 | # Block processing thread until gripper movement is finished, comment if waiting is not necesary. 42 | robotiq_client.wait_for_result() 43 | 44 | # Use pre-defined functions for robot gripper manipulation. 45 | ##################################################################################### 46 | while not rospy.is_shutdown(): 47 | Robotiq.goto(robotiq_client, pos=0.00, speed=0.1, force=100 , block=True) 48 | Robotiq.goto(robotiq_client, pos=0.04, speed=0.01, force=10) 49 | Robotiq.goto(robotiq_client, pos=0.011, speed=0.01, force=0 , block=True) 50 | Robotiq.goto(robotiq_client, pos=0.08, speed=0.11, force=200 , block=True) 51 | # Robotiq.goto(robotiq_client, pos=0.06, speed=0.0, force=0) 52 | # break 53 | 54 | # Prints out the result of executing the action 55 | return robotiq_client.get_result() # A FibonacciResult 56 | 57 | if __name__ == '__main__': 58 | # Initializes a rospy node so that the SimpleActionClient can 59 | # publish and subscribe over ROS. 60 | rospy.init_node('robotiq_2f_client') 61 | result = operate_gripper() -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/scripts/robotiq_2f_action_server.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | """-------------------------------------------------------------------- 3 | This Node/Script creates an instance of a `SimpleActionServer` dedicated to receive, 4 | process and execute user commands for the Robotiq 2 finger adaptive grippers. 5 | 6 | The action type is defined in the `robotiq_2f_gripper_msgs` as `CommandRobotiqGripper.action` and 7 | the default action name is `/command_robotiq_action` but you can namespace it for multiple grippers 8 | control. 9 | 10 | See the `robotiq_action_server.launch` file on this package for an example on how to call this node. 11 | 12 | Parameters: 13 | comport: USB Communication port to which the gripper is connected to (not needed in `sim` mode). 14 | baud: Baudrate of communication with gripper (not needed in `sim` mode). 15 | stroke: Maximum distance in meters, between the gripper fingers (Only 0,085 and 0.140 are currently supported) 16 | joint_name: Name of the URDF gripper actuated joints to publish on the `/joint_state` topic 17 | sim: Boolean indicating whether to use a simulated gripper or try to connect to a real one. 18 | rate: Frequency in Herz to update the gripper variables (command, joint_state, gripper_state) 19 | 20 | @author: Daniel Felipe Ordonez Apraez 21 | @email: daniels.ordonez@gmail.com 22 | --------------------------------------------------------------------""" 23 | import rospy 24 | from robotiq_2f_gripper_control.robotiq_2f_gripper_driver import Robotiq2FingerGripperDriver, Robotiq2FingerSimulatedGripperDriver 25 | import actionlib 26 | from control_msgs.msg import FollowJointTrajectoryAction, FollowJointTrajectoryResult, FollowJointTrajectoryFeedback, FollowJointTrajectoryGoal 27 | from robotiq_2f_gripper_msgs.msg import CommandRobotiqGripperFeedback, CommandRobotiqGripperResult, CommandRobotiqGripperAction, CommandRobotiqGripperGoal 28 | 29 | GOAL_DETECTION_THRESHOLD = 0.05 # Max deviation from target goal to consider as goal "reached" 30 | 31 | class CommandGripperActionServer(object): 32 | 33 | def __init__(self, namespace, action_name, driver): 34 | self._action_name = namespace + action_name 35 | self._action_server = actionlib.SimpleActionServer(self._action_name, 36 | CommandRobotiqGripperAction, 37 | execute_cb=self.execute_cb, 38 | auto_start = False) 39 | self._joint_trajectory_action_server = actionlib.SimpleActionServer(namespace + "robotiq_controller/follow_joint_trajectory", 40 | FollowJointTrajectoryAction, 41 | execute_cb=self.execute_joint_trajectory_cb, 42 | auto_start = False) 43 | self._driver = driver # Get handle to the Gripper Control Server 44 | 45 | # Wait until gripper driver is ready to take commands. 46 | watchdog = rospy.Timer(rospy.Duration(15.0), self._connection_timeout, oneshot=True) 47 | while not rospy.is_shutdown() and not self._driver.is_ready: 48 | rospy.sleep(0.5) 49 | rospy.logwarn_throttle(5, self._action_name + ": Waiting for gripper to be ready...") 50 | 51 | watchdog.shutdown() 52 | if not rospy.is_shutdown(): 53 | self._processing_goal = False 54 | self._is_stalled = False 55 | 56 | self._action_server.start() 57 | self._joint_trajectory_action_server.start() 58 | rospy.loginfo("Robotiq server started") 59 | 60 | def _connection_timeout(self, event): 61 | rospy.logfatal("Gripper on port %s seems not to respond" % (self._driver._comport)) 62 | rospy.signal_shutdown("Gripper on port %s seems not to respond" % (self._driver._comport)) 63 | 64 | def execute_cb(self, goal_command): 65 | rospy.logdebug( (self._action_name + ": New goal received Pos:%.3f Speed: %.3f Force: %.3f Force-Stop: %r") % (goal_command.position, goal_command.speed, goal_command.force, goal_command.stop) ) 66 | # Send incoming command to gripper driver 67 | self._driver.update_gripper_command(goal_command) 68 | # Wait until command is received by the gripper 69 | rospy.sleep(rospy.Duration(0.1)) 70 | # Set Action Server as active === processing goal... 71 | self._processing_goal = True 72 | 73 | feedback = CommandRobotiqGripperFeedback() 74 | result = CommandRobotiqGripperResult() 75 | 76 | # Set timeout timer 77 | watchdog = rospy.Timer(rospy.Duration(5.0), self._execution_timeout, oneshot=True) 78 | 79 | # Wait until goal is achieved and provide feedback 80 | rate = rospy.Rate( rospy.get_param('~rate', 30) ) 81 | 82 | while not rospy.is_shutdown() and self._processing_goal and not self._is_stalled: # While moving and not stalled provide feedback and check for result 83 | feedback = self._driver.get_current_gripper_status() 84 | self._action_server.publish_feedback( feedback ) 85 | rospy.logdebug("Error = %.5f Requested position = %.3f Current position = %.3f" % (abs(feedback.requested_position - feedback.position), feedback.requested_position, feedback.position)) 86 | # Check for completition of action 87 | if( feedback.fault_status != 0 and not self._is_stalled): # Check for errors 88 | rospy.logerr(self._action_name + ": fault status (gFLT) is: %d", feedback.fault_status) 89 | self._is_stalled = True 90 | self._action_server.set_aborted( feedback , (self._action_name + ": fault status (gFLT) is: %d" % feedback.fault_status)) 91 | break 92 | if( abs(feedback.requested_position - feedback.position) < GOAL_DETECTION_THRESHOLD or feedback.obj_detected): # Check if position has been reached 93 | watchdog.shutdown() # Stop timeout watchdog. 94 | self._processing_goal = False 95 | self._is_stalled = False 96 | rate.sleep() 97 | 98 | result = feedback # Message declarations are the same 99 | # Send result 100 | if not self._is_stalled: 101 | rospy.logdebug(self._action_name + ": goal reached or object detected Pos: %.3f PosRequested: %.3f ObjectDetected: %r" % (goal_command.position, feedback.requested_position, feedback.obj_detected) ) 102 | self._action_server.set_succeeded(result) 103 | else: 104 | rospy.logerr(self._action_name + ": goal aborted Pos: %.3f PosRequested: %.3f ObjectDetected: %r" % (goal_command.position, feedback.requested_position, feedback.obj_detected) ) 105 | self._action_server.set_aborted(result) 106 | 107 | self._processing_goal = False 108 | self._is_stalled = False 109 | 110 | def execute_joint_trajectory_cb(self, goal): 111 | rospy.loginfo("Trajectory received with %d points", len(goal.trajectory.points)) 112 | feedback = FollowJointTrajectoryFeedback() 113 | result = FollowJointTrajectoryResult() 114 | current_status = self._driver.get_current_gripper_status() 115 | 116 | # Check trajectory joint names 117 | joint_names = goal.trajectory.joint_names 118 | if len(joint_names) != 1 and joint_names[0] != self._driver._joint_name : 119 | msg = "Joint trajectory joints do not match gripper joint" 120 | rospy.logerr(msg) 121 | result.error_code = result.INVALID_JOINTS 122 | result.error_string = msg 123 | self._joint_trajectory_action_server.set_aborted(result) 124 | return 125 | # Check trajectory points 126 | if len(goal.trajectory.points) == 0: 127 | msg = "Ignoring empty trajectory " 128 | rospy.logerr(msg) 129 | result.error_code = result.INVALID_GOAL 130 | result.error_string = msg 131 | self._joint_trajectory_action_server.set_aborted(result) 132 | return 133 | 134 | # Process goal trajectory 135 | self._processing_goal = True 136 | self._is_stalled = False 137 | 138 | goal_command = CommandRobotiqGripperGoal() 139 | feedback.joint_names = goal.trajectory.joint_names 140 | watchdog = rospy.Timer(rospy.Duration(goal.trajectory.points[-1].time_from_start.to_sec() + 0.5), 141 | self._execution_timeout, 142 | oneshot=True) 143 | 144 | # Follow trajectory points 145 | goal_trajectory_point = goal.trajectory.points[-1] 146 | 147 | # Validate trajectory point 148 | if len(goal_trajectory_point.positions) != 1: 149 | result.error_code = result.INVALID_GOAL 150 | result.error_string = "Invalid joint position on trajectory point " 151 | self._joint_trajectory_action_server.set_aborted(result) 152 | return 153 | target_speed = goal_trajectory_point.velocities[0] if len(goal_trajectory_point.velocities) > 0 else 0.01 154 | target_force = goal_trajectory_point.effort[0] if len(goal_trajectory_point.effort) > 0 else 0.1 155 | goal_command.position = self._driver.from_radians_to_distance(goal_trajectory_point.positions[0]) 156 | goal_command.speed = abs(target_speed) # To-Do: Convert to rad/s 157 | goal_command.force = target_force 158 | # Send incoming command to gripper driver 159 | self._driver.update_gripper_command(goal_command) 160 | # Set feedback desired value 161 | feedback.desired.positions = [goal_trajectory_point.positions[0]] 162 | 163 | while not rospy.is_shutdown() and self._processing_goal and not self._is_stalled: 164 | current_status = self._driver.get_current_gripper_status() 165 | feedback.actual.positions = [self._driver.get_current_joint_position()] 166 | error = abs(feedback.actual.positions[0] - feedback.desired.positions[0]) 167 | rospy.logdebug("Error : %.3f -- Actual: %.3f -- Desired: %.3f", error, self._driver.get_current_joint_position(), feedback.desired.positions[0]) 168 | 169 | feedback.error.positions = [error] 170 | self._joint_trajectory_action_server.publish_feedback( feedback ) 171 | 172 | # Check for errors 173 | if current_status.fault_status != 0 and not self._is_stalled: 174 | self._is_stalled = True 175 | self._processing_goal = False 176 | rospy.logerr(msg) 177 | result.error_code = -6 178 | result.error_string = "Gripper fault status (gFLT): " + current_status.fault_status 179 | self._joint_trajectory_action_server.set_aborted(result) 180 | return 181 | # Check if object was detected 182 | if current_status.obj_detected: 183 | watchdog.shutdown() # Stop timeout watchdog. 184 | self._processing_goal = False 185 | self._is_stalled = False 186 | result.error_code = result.SUCCESSFUL 187 | result.error_string = "Object detected/grasped" 188 | self._joint_trajectory_action_server.set_succeeded(result) 189 | return 190 | # Check if current trajectory point was reached 191 | if error < GOAL_DETECTION_THRESHOLD : 192 | break 193 | 194 | # Entire trajectory was followed/reached 195 | watchdog.shutdown() 196 | 197 | rospy.logdebug(self._action_name + ": goal reached") 198 | result.error_code = result.SUCCESSFUL 199 | result.error_string = "Goal reached" 200 | self._joint_trajectory_action_server.set_succeeded(result) 201 | 202 | self._processing_goal = False 203 | self._is_stalled = False 204 | 205 | def _execution_timeout(self, event): 206 | rospy.logerr("%s: Achieving goal is taking too long, dropping current goal") 207 | self._is_stalled = True 208 | self._processing_goal = False 209 | 210 | if __name__ == "__main__": 211 | 212 | rospy.init_node('robotiq_2f_action_server') 213 | 214 | # Get Node parameters 215 | comport = rospy.get_param('~comport','/dev/ttyUSB0') 216 | baud = rospy.get_param('~baud','115200') 217 | stroke = rospy.get_param('~stroke', 0.085) # Default stroke is 85mm (Small C / 2 finger adaptive gripper model) 218 | joint_name = rospy.get_param('~joint_name', 'finger_joint') 219 | sim = rospy.get_param('~sim', False) 220 | 221 | # Create instance of Robotiq Gripper Driver 222 | if sim: # Use simulated gripper 223 | gripper_driver = Robotiq2FingerSimulatedGripperDriver( stroke=stroke, joint_name=joint_name) 224 | else: # Try to connect to a real gripper 225 | gripper_driver = Robotiq2FingerGripperDriver( comport=comport, baud=baud, stroke=stroke, joint_name=joint_name) 226 | # Start action server 227 | server = CommandGripperActionServer(rospy.get_namespace(), 'command_robotiq_action', gripper_driver) 228 | 229 | # Send and Request data from gripper and update joint state every `r`[Hz] 230 | r = rospy.Rate(rospy.get_param('~rate', 50 if not sim else 20)) 231 | while not rospy.is_shutdown(): 232 | gripper_driver.update_driver() 233 | r.sleep() 234 | 235 | rospy.spin() 236 | 237 | 238 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 3 | 4 | from distutils.core import setup 5 | from catkin_pkg.python_setup import generate_distutils_setup 6 | 7 | # fetch values from package.xml 8 | setup_args = generate_distutils_setup( 9 | packages=['robotiq_2f_gripper_control'], 10 | package_dir={'': 'src'} 11 | ) 12 | 13 | setup(**setup_args) 14 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Danfoa/robotiq_2finger_grippers/4a98b19a83e73c2adadb4deb8b1406153e0ddcf9/robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/__init__.py -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/modbus_crc.py: -------------------------------------------------------------------------------- 1 | """-------------------------------------------------------------------- 2 | COPYRIGHT 2015 Stanley Innovation Inc. 3 | 4 | Software License Agreement: 5 | 6 | Redistribution and use in source and binary forms, with or without modification, 7 | are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation and/or 14 | other materials provided with the distribution. 15 | 16 | 3. Neither the name of the copyright holder nor the names of its contributors 17 | may be used to endorse or promote products derived from this software without 18 | specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 21 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 22 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 24 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 25 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 26 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 27 | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 28 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 29 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | 31 | file modbus_crc.py 32 | 33 | brief Modbus CRC functions 34 | 35 | Platform: Linux/ROS Indigo 36 | --------------------------------------------------------------------""" 37 | CRC_HI_TBL = [ 38 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 39 | 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 40 | 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 41 | 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 42 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 43 | 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 44 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 45 | 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 46 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 47 | 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 48 | 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 49 | 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 50 | 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 51 | 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 52 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 53 | 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 54 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 55 | 0x40] 56 | 57 | CRC_LOW_TBL = [ 58 | 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 59 | 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 60 | 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 61 | 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 62 | 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 63 | 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 64 | 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 65 | 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 66 | 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 67 | 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 68 | 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 69 | 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 70 | 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 71 | 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 72 | 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 73 | 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 74 | 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 75 | 0x40] 76 | 77 | def compute_modbus_rtu_crc(buff): 78 | crc_hi = 0xFF 79 | crc_low = 0xFF 80 | i = 0 81 | 82 | data_len = len(buff) 83 | while(data_len): 84 | idx = (crc_low ^ buff[i]) & 0xFF 85 | crc_low = (crc_hi ^ CRC_HI_TBL[idx]) & 0xFF 86 | crc_hi = CRC_LOW_TBL[idx] & 0xFF 87 | data_len-=1 88 | i+=1 89 | 90 | buff.append(crc_low) 91 | buff.append(crc_hi) 92 | 93 | def verify_modbus_rtu_crc(buff): 94 | crc_hi = 0xFF 95 | crc_low = 0xFF 96 | i = 0 97 | 98 | data_len = len(buff)-2 99 | while(data_len): 100 | idx = (crc_low ^ buff[i]) & 0xFF 101 | crc_low = (crc_hi ^ CRC_HI_TBL[idx]) & 0xFF 102 | crc_hi = CRC_LOW_TBL[idx] & 0xFF 103 | data_len-=1 104 | i+=1 105 | 106 | if (crc_low == buff[len(buff)-2]) and (crc_hi == buff[len(buff)-1]): 107 | return True 108 | return False 109 | 110 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/robotiq_2f_gripper.py: -------------------------------------------------------------------------------- 1 | import serial 2 | from serial.serialutil import SerialException 3 | 4 | from pymodbus.client.sync import ModbusSerialClient 5 | import robotiq_modbus_rtu.comModbusRtu 6 | 7 | from math import ceil 8 | 9 | import numpy as np 10 | import array 11 | 12 | ACTION_REQ_IDX = 7 13 | POS_INDEX = 10 14 | SPEED_INDEX = 11 15 | FORCE_INDEX = 12 16 | 17 | class Robotiq2FingerGripper: 18 | def __init__(self, device_id=0, stroke=0.085, comport='/dev/ttyUSB0',baud=115200): 19 | 20 | self.client = robotiq_modbus_rtu.comModbusRtu.communication() 21 | 22 | connected = self.client.connectToDevice(device = comport) 23 | if not connected: 24 | raise Exception("Communication with gripper %d on serial port: %s and baud rate: %d not achieved" % (device_id, comport, baud)) 25 | 26 | self.init_success = True 27 | self.device_id = device_id+9 28 | self.stroke = stroke 29 | self.initialize_communication_variables() 30 | 31 | self.message = [] 32 | 33 | def _update_cmd(self): 34 | 35 | #Initiate command as an empty list 36 | self.message = [] 37 | #Build the command with each output variable 38 | self.message.append(self.rACT + (self.rGTO << 3) + (self.rATR << 4)) 39 | self.message.append(0) 40 | self.message.append(0) 41 | self.message.append(self.rPR) 42 | self.message.append(self.rSP) 43 | self.message.append(self.rFR) 44 | 45 | def sendCommand(self): 46 | """Send the command to the Gripper.""" 47 | return self.client.sendCommand(self.message) 48 | 49 | 50 | def getStatus(self): 51 | """Request the status from the gripper and return it in the Robotiq2FGripper_robot_input msg type.""" 52 | 53 | #Acquire status from the Gripper 54 | status = self.client.getStatus(6); 55 | 56 | # Check if read was successful 57 | if( status is None ): 58 | return False 59 | 60 | #Assign the values to their respective variables 61 | self.gACT = (status[0] >> 0) & 0x01; 62 | self.gGTO = (status[0] >> 3) & 0x01; 63 | self.gSTA = (status[0] >> 4) & 0x03; 64 | self.gOBJ = (status[0] >> 6) & 0x03; 65 | self.gFLT = status[2] 66 | self.gPR = status[3] 67 | self.gPO = status[4] 68 | self.gCU = status[5] 69 | 70 | return True 71 | 72 | 73 | def initialize_communication_variables(self): 74 | # Out 75 | self.rPR = 0 76 | self.rSP = 255 77 | self.rFR = 150 78 | self.rARD = 1 79 | self.rATR = 0 80 | self.rGTO = 0 81 | self.rACT = 0 82 | # In 83 | self.gSTA = 0 84 | self.gACT = 0 85 | self.gGTO = 0 86 | self.gOBJ = 0 87 | self.gFLT = 0 88 | self.gPO = 0 89 | self.gPR = 0 90 | self.gCU = 0 91 | 92 | self._update_cmd() 93 | self._max_force = 100.0 # [%] 94 | 95 | def shutdown(self): 96 | self.client.close() 97 | 98 | def activate_gripper(self): 99 | self.rACT = 1 100 | self.rPR = 0 101 | self.rSP = 255 102 | self.rFR = 150 103 | self._update_cmd() 104 | 105 | def deactivate_gripper(self): 106 | self.rACT = 0 107 | self._update_cmd() 108 | 109 | def activate_emergency_release(self,open_gripper=True): 110 | self.rATR = 1 111 | self.rARD = 1 112 | 113 | if (open_gripper): 114 | self.rARD=0 115 | self._update_cmd() 116 | 117 | def deactivate_emergency_release(self): 118 | self.rATR = 0 119 | self._update_cmd() 120 | 121 | def goto(self, pos, vel, force): 122 | self.rACT = 1 123 | self.rGTO = 1 124 | self.rPR = int(np.clip((3. - 230.)/self.stroke * pos + 230., 0, 255)) 125 | self.rSP = int(np.clip(255./(0.1 - 0.013) * vel-0.013, 0, 255)) 126 | self.rFR = int(np.clip(255./(self._max_force) * force, 0, 255)) 127 | self._update_cmd() 128 | 129 | 130 | def stop(self): 131 | self.rACT = 1 132 | self.rGTO = 0 133 | self._update_cmd() 134 | 135 | def is_ready(self): 136 | return self.gSTA == 3 and self.gACT == 1 137 | 138 | def is_reset(self): 139 | return self.gSTA == 0 or self.gACT == 0 140 | 141 | def is_moving(self): 142 | return self.gGTO == 1 and self.gOBJ == 0 143 | 144 | def is_stopped(self): 145 | return self.gOBJ != 0 146 | 147 | def object_detected(self): 148 | return self.gOBJ == 1 or self.gOBJ == 2 149 | 150 | def get_fault_status(self): 151 | return self.gFLT 152 | 153 | def get_pos(self): 154 | po = float(self.gPO) 155 | return np.clip(self.stroke/(3.-230.)*(po-230.), 0, self.stroke) 156 | 157 | def get_req_pos(self): 158 | pr = float(self.gPR) 159 | return np.clip(self.stroke/(3.-230.)*(pr-230.), 0, self.stroke) 160 | 161 | def get_current(self): 162 | return self.gCU * 0.1 163 | 164 | 165 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_2f_gripper_msgs) 3 | 4 | find_package(catkin 5 | REQUIRED genmsg actionlib actionlib_msgs 6 | COMPONENTS message_generation std_msgs) 7 | 8 | find_package(Boost REQUIRED COMPONENTS system) 9 | 10 | add_message_files( 11 | DIRECTORY 12 | msg 13 | FILES 14 | RobotiqGripperCommand.msg 15 | RobotiqGripperStatus.msg 16 | ) 17 | 18 | add_action_files( 19 | DIRECTORY 20 | action 21 | FILES 22 | CommandRobotiqGripper.action 23 | ) 24 | 25 | generate_messages(DEPENDENCIES actionlib_msgs std_msgs) 26 | include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) 27 | 28 | catkin_package(CATKIN_DEPENDS actionlib_msgs message_runtime std_msgs) 29 | 30 | 31 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_msgs/action/CommandRobotiqGripper.action: -------------------------------------------------------------------------------- 1 | # See Robotiq documentation for fields documentation. 2 | # See Robotiq documentation for fields documentation. 3 | 4 | #goal definition 5 | bool emergency_release 6 | uint32 emergency_release_dir 7 | bool stop 8 | float32 position #[m] Distance in bewteen fingers 9 | float32 speed #[m/s] Speed (Min: 0.013m/s - Max: 0.1m/s) 10 | float32 force #[%] Percentage of gripper force to apply (Min: 0.0% - Max: 100.0%) 11 | --- 12 | #result definition 13 | Header header 14 | bool is_ready 15 | bool is_reset 16 | bool is_moving 17 | bool obj_detected 18 | uint8 fault_status 19 | float32 position 20 | float32 requested_position 21 | float32 current 22 | --- 23 | #feedback 24 | Header header 25 | bool is_ready 26 | bool is_reset 27 | bool is_moving 28 | bool obj_detected 29 | uint8 fault_status 30 | float32 position 31 | float32 requested_position 32 | float32 current 33 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_msgs/msg/RobotiqGripperCommand.msg: -------------------------------------------------------------------------------- 1 | bool emergency_release 2 | uint32 emergency_release_dir 3 | bool stop 4 | float32 position #[m] Distance in bewteen fingers 5 | float32 speed #[m/s] Speed (Min: 0.013m/s - Max: 0.1m/s) 6 | float32 force #[%] Percentage of gripper force to apply (Min: 0.0% - Max: 100.0%) 7 | 8 | 9 | -------------------------------------------------------------------------------- /robotiq_2f_gripper_msgs/msg/RobotiqGripperStatus.msg: -------------------------------------------------------------------------------- 1 | # See Robotiq documentation for fields documentation. 2 | Header header 3 | bool is_ready 4 | bool is_reset 5 | bool is_moving 6 | bool obj_detected 7 | uint8 fault_status 8 | float32 position #[m] Distance in bewteen fingers 9 | float32 requested_position 10 | float32 current -------------------------------------------------------------------------------- /robotiq_2f_gripper_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | robotiq_2f_gripper_msgs 3 | 0.0.2 4 | Messages for Robotiq 2 Finger Adaptive Gripper Model (Also known as C series) Driver 5 | 6 | Daniel Ordonez 7 | Stanley Innovation, Inc. 8 | Daniel Ordonez 9 | BSD 10 | 11 | catkin 12 | 13 | 14 | roslaunch 15 | message_generation 16 | actionlib_msgs 17 | actionlib_msgs 18 | message_runtime 19 | std_msgs 20 | std_msgs 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /robotiq_modbus_rtu/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html 2 | cmake_minimum_required(VERSION 2.8.3) 3 | project(robotiq_modbus_rtu) 4 | find_package(catkin REQUIRED COMPONENTS rospy) 5 | 6 | #set the default path for built executables to the "bin" directory 7 | set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) 8 | #set the default path for built libraries to the "lib" directory 9 | set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) 10 | 11 | catkin_python_setup() 12 | 13 | ################################### 14 | ## catkin specific configuration ## 15 | ################################### 16 | ## The catkin_package macro generates cmake config files for your package 17 | ## Declare things to be passed to dependent projects 18 | ## LIBRARIES: libraries you create in this project that dependent projects also need 19 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 20 | ## DEPENDS: system dependencies of this project that dependent projects also need 21 | catkin_package( 22 | CATKIN_DEPENDS rospy 23 | ) 24 | -------------------------------------------------------------------------------- /robotiq_modbus_rtu/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b robotiq_comm 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /robotiq_modbus_rtu/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | robotiq_modbus_rtu 4 | 1.0.0 5 | A stack to communicate with Robotiq grippers using the Modbus RTU protocol 6 | Jean-Philippe Roberge 7 | BSD 8 | http://wiki.ros.org/robotiq 9 | Nicolas Lauzier (Robotiq inc.) 10 | Kelsey Hawkins 11 | 12 | catkin 13 | 14 | python-pymodbus 15 | rospy 16 | 17 | 18 | -------------------------------------------------------------------------------- /robotiq_modbus_rtu/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from distutils.core import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['robotiq_modbus_rtu'], 9 | package_dir={'': 'src'}, 10 | ) 11 | 12 | setup(**setup_args) 13 | -------------------------------------------------------------------------------- /robotiq_modbus_rtu/src/robotiq_modbus_rtu/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py: -------------------------------------------------------------------------------- 1 | # Software License Agreement (BSD License) 2 | # 3 | # Copyright (c) 2012, Robotiq, Inc. 4 | # All rights reserved. 5 | # 6 | # Redistribution and use in source and binary forms, with or without 7 | # modification, are permitted provided that the following conditions 8 | # are met: 9 | # 10 | # * Redistributions of source code must retain the above copyright 11 | # notice, this list of conditions and the following disclaimer. 12 | # * Redistributions in binary form must reproduce the above 13 | # copyright notice, this list of conditions and the following 14 | # disclaimer in the documentation and/or other materials provided 15 | # with the distribution. 16 | # * Neither the name of Robotiq, Inc. nor the names of its 17 | # contributors may be used to endorse or promote products derived 18 | # from this software without specific prior written permission. 19 | # 20 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 | # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 | # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 | # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 | # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 | # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 | # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 | # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 | # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 | # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 | # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 | # POSSIBILITY OF SUCH DAMAGE. 32 | # 33 | # Copyright (c) 2012, Robotiq, Inc. 34 | # Revision $Id$ 35 | # 36 | # Modifed from the orginal comModbusTcp by Kelsey Hawkins @ Georgia Tech 37 | 38 | 39 | 40 | """@package docstring 41 | Module comModbusRtu: defines a class which communicates with Robotiq Grippers using the Modbus RTU protocol. 42 | 43 | The module depends on pymodbus (http://code.google.com/p/pymodbus/) for the Modbus RTU client. 44 | """ 45 | 46 | from pymodbus.client.sync import ModbusSerialClient 47 | from math import ceil 48 | 49 | class communication: 50 | 51 | def __init__(self): 52 | self.client = None 53 | 54 | def connectToDevice(self, device): 55 | """Connection to the client - the method takes the IP address (as a string, e.g. '192.168.1.11') as an argument.""" 56 | self.client = ModbusSerialClient(method='rtu',port=device,stopbits=1, bytesize=8, baudrate=115200, timeout=0.2) 57 | if not self.client.connect(): 58 | print "Unable to connect to %s" % device 59 | return False 60 | return True 61 | 62 | def disconnectFromDevice(self): 63 | """Close connection""" 64 | self.client.close() 65 | 66 | def sendCommand(self, data): 67 | """Send a command to the Gripper - the method takes a list of uint8 as an argument. The meaning of each variable depends on the Gripper model (see support.robotiq.com for more details)""" 68 | #make sure data has an even number of elements 69 | if(len(data) % 2 == 1): 70 | data.append(0) 71 | 72 | #Initiate message as an empty list 73 | message = [] 74 | 75 | #Fill message by combining two bytes in one register 76 | for i in range(0, len(data)/2): 77 | message.append((data[2*i] << 8) + data[2*i+1]) 78 | 79 | #To do!: Implement try/except 80 | try: 81 | self.client.write_registers(0x03E8, message, unit=0x0009) 82 | except: 83 | print("Modbus write operation failure") 84 | return False 85 | return True 86 | 87 | def getStatus(self, numBytes): 88 | """Sends a request to read, wait for the response and returns the Gripper status. The method gets the number of bytes to read as an argument""" 89 | numRegs = int(ceil(numBytes/2.0)) 90 | 91 | #To do!: Implement try/except 92 | #Get status from the device 93 | try: 94 | response = self.client.read_holding_registers(0x07D0, numRegs, unit=0x0009) 95 | except Exception as e: 96 | print(e) 97 | return None 98 | 99 | # When reading failes, response is of type None 100 | if response is None: 101 | # print("Failed to receive status") 102 | return None 103 | 104 | #Instantiate output as an empty list 105 | output = [] 106 | 107 | #Fill the output with the bytes in the appropriate order 108 | for i in range(0, numRegs): 109 | output.append((response.getRegister(i) & 0xFF00) >> 8) 110 | output.append( response.getRegister(i) & 0x00FF) 111 | 112 | #Output the result 113 | return output 114 | --------------------------------------------------------------------------------