tams-group / robotiq

Robotiq package that maintained by community

Robotiq

Status

This repository (fork of ros-industrial) is now maintained by TAMS group from Univeristy of Hamburg.

Bluetooth interface

To use robotiq and ft sensor with bluetooth, please check: https://github.com/TAMS-Group/tams_robotiq_bluetooth

Robotiq S Model Action Server

A simple action server for robotiq s model 3 finger gripper: https://github.com/TAMS-Group/robotiq_s_model_action_server

License

Contents

This repo holds source code for all versions > groovy. For those versions <= groovy see: SVN repo

robotiq's Issues

Mixed usage of Tab and space

Hi, thank you for upgrading the package to Ros noetic. It works perfectly with our gripper.

The only small thing is that my python interpreter complained about mixed usage of tab and space in robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/baseRobotiq2FGripper.py.

It will be great if you can fix it.

robotiq/robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/baseRobotiq2FGripper.py

Lines 58 to 84 in a729fb6

	#Verify that each variable is in its correct range
	command.rACT = max(0, command.rACT)
	command.rACT = min(1, command.rACT)
	command.rGTO = max(0, command.rGTO)
	command.rGTO = min(1, command.rGTO)
	command.rATR = max(0, command.rATR)
	command.rATR = min(1, command.rATR)
	command.rPR = max(0, command.rPR)
	command.rPR = min(255, command.rPR)
	command.rSP = max(0, command.rSP)
	command.rSP = min(255, command.rSP)
	command.rFR = max(0, command.rFR)
	command.rFR = min(255, command.rFR)
	#Return the modified command
	return command
	def refreshCommand(self, command):
	"""Function to update the command which will be sent during the next sendCommand() call."""
	#Limit the value of each variable
	command = self.verifyCommand(command)

Control 2F Gripper in Gazebo

Hey,
i am try to get a Gazebo simulation running with a 2F-140 gripper attached to a UR10e. I got the same setup in real life but want to create a digital twin for testing.
I cant find any documentation how to control the gripper within Gazebo?
Any hint?
Also in real life i am struggling the the ModBus forwarding, to MoveIt or just direct control - but lets start with Gazebo.
While this fork seems be worked on, their might be people who can point me in the right direction?

So issue is:
how do i control the simulated 2F gripper with a Python node?

Regards!

ROS2 Support

Are there any plans to support the robotiq grippers on ROS2?

AttributeError: 'NoneType' object has no attribute 'read_holding_registers' when reading robotiq 2f-85 gripper status

Hi, I was wondering if you could help us with this issue. I would like to read the state of our robotiq 2f-85 gripper using the following (please feel free to advice alternative way if this is a known recurring bug):

status = self.RobotiqGripper.client.getStatus(6)

However, I am getting the following error: in ... ..ws/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 100, in getStatus

response = self.client.read_holding_registers(0x07D0, numRegs, unit=0x0009)

AttributeError: 'NoneType' object has no attribute 'read_holding_registers'

I am working with ros-noetic using robostack conda environment python 3.8.

Would you have any suggestions on how to fix this please? Thanks in advance :)

AttributeError when trying to connect to the gripper on ROS Noetic

Hi,

I am currently trying to connect the robotiq_2f_85 gripper to ROS Noetic on Ubuntu 20.04
The package built just fine, but now I am trying to run the commands from the original tutorial
When I try to connect to the gripper with the command

rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB0

I get the following error:

File "/home/user/reitz/workspace/src/robotiq/robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py", line 86, in
mainLoop(sys.argv[1])

File "/home/user/reitz/workspace/src/robotiq/robotiq_2f_gripper_control/nodes/Robotiq2FGripperRtuNode.py", line 72, in mainLoop
status = gripper.getStatus()

File "/home/user/reitz/workspace/src/robotiq/robotiq_2f_gripper_control/src/robotiq_2f_gripper_control/baseRobotiq2FGripper.py", line 107, in getStatus
status = self.client.getStatus(6);

File "/home/user/reitz/workspace/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 108, in getStatus
response = self.client.read_holding_registers(0x07D0, numRegs, unit=0x0009)

File "/usr/lib/python3/dist-packages/pymodbus/client/common.py", line 114, in read_holding_registers
return self.execute(request)

File "/home/user/reitz/workspace/src/robotiq/robotiq_modbus_rtu/src/robotiq_modbus_rtu/robotiqmodbus/client/sync.py", line 85, in execute
return self.transaction.execute(request)

File "/usr/lib/python3/dist-packages/pymodbus/transaction.py", line 116, in execute
_buffer = hexlify_packets(self.client.framer._buffer)

AttributeError: 'ModbusRtuFramer' object has no attribute '_buffer'

Any idea how to fix this?