haxhimitsu / robotiq_ros

S-model gripper and FT300 sensor

robotiq_ros

This repo holds source code for ROS.

Prerequisites

1. Install ROS.
2. Install Moveit and other dependencies.

sudo apt-get install ros-<distro>-moveit ros-<distro>-moveit-full-pr2 ros-<distro>-soem ros-<distro>-controller-manager ros-<distro>-socketcan-bridge

3. Install UR packages.

sudo apt-get install ros-<distro>-universal-robot

Installation

1. Clone the repo into your workspace.

cd <YOUR WORKSPACE>/src/
git clone https://github.com/littleblakew/robotiq_ros.git

2. Compile the packages.

cd ..
catkin_make

3. Install robotiq_modbus_tcp.

rosdep install robotiq_modbus_tcp 

Configuration

Gripper

See: S-Gripper

FT 300

1. Enter the robotiq_ros folder
2. Copy the rule "udev/52-ftdi.rules" into "/etc/udev/rules.d"

sudo cp /robotiq_force_torque_sensor/udev/52-ftdi.rules /etc/udev/rules.d

3. Reconnect the usb of FT300.
4. Check the new name of device of FT300, which is supposed to be "/dev/ftdi_XXXXXXXX".
5. Replace the old name of device of FT300 in "robotiq_force_torque_sensor/launch/ft_300.launch" with the new name of device of FT300.

Usage

Gripper

rosrun robotiq_s_model_control SModelTcpNode.py 192.168.1.11 
rosrun robotiq_s_model_control SModelSimpleController.py 

FT 300

roslaunch robotiq_force_torque_sensor ft_300.launch

Reference

1. https://github.com/ros-industrial/robotiq
2. https://github.com/ibaranov-cp/husky_UR_accessories