Hi carlosjoserg,
Today, we get our Robotiq_140 gripper and we have successfully use the CModelRtuNode and CModelSimpleController to controll the gripper via our PC thought USB. While we want to do much more than that, now we would like to combine the gripper with Moveit Rivz through ROS,


Well, first we cannot execute the gripper plan in Rviz because of lacking controller. Second, if we use the CModelSimpleController to control the gripper we cannot see the change in Rviz .
Previously, we combine the UR10 with Rviz successfully using the ur_modern_driver package , that is if we plan UR in Rviz and execute the plan, the real UR will follow the action.
We just would like the gripper to do the same thing as the UR, could you help us since we are all new to the gripper.

I don't know if I'll ever PR against the ros industrial repo, I don't like to too much all different components, force torque sensor, all gripper models, eventually the camera

Even when they work together wonderfully, I'd prefer to have each component separated to avoid building unnecessary dependencies when working from source

The main idea is to have the two available modes from the hardware in simulation, that is, rigid parallel gripper, or adaptive gripper.

The idea is to add all the transmission computations in the hardware abstraction, or create a gazebo hardware interface similar to the usb interface

low_priority

Right now, the close command is not 1, but the value computed here:
https://github.com/beta-robots/robotiq/blob/new_2_finger_models/robotiq_2f_hw_usb/include/robotiq_2f_hw_usb/robotiq_2f_usb_comm.h#L24

This comes from the URDF conversion to uint8 type here:
https://github.com/beta-robots/robotiq/blob/new_2_finger_models/robotiq_2f_hw_usb/include/robotiq_2f_hw_usb/robotiq_2f_usb_comm.h#L51

Since the gripper hardly goes alone, but mounted on different arm, it might good to have it combined hardware interface compatible

Referece: http://wiki.ros.org/combined_robot_hw

The main README.md makes reference to a launch file that does not exist.

roslaunch robotiq_2f_hardware robotiq_2f_85_USB.launch usb_port:=/dev/ttyUSB0 server_id:=9

As a hint for the rest of the community it would be great to indicate what is working and what does not in this repository main README.md

The gripper can receive three different commands for a movement, that is, position, speed and force

Currently, only position is being sent with max speed and max force hardcoded.

No ros controller can work with such a setup, so the idea would be to create a new one that exposes those commands through an action similar to the GripperActionController