This repository provides our customized UR5e integration with robotiq 3 Finger gripper.
Tested on Ubuntu 18.04 with ROS Melodic.
The features and usage of the dual arm driver are described on the WIKI.
roslaunch robot_gazebo dual_ur_robotiq.launch world:=table_box
roslaunch robot_moveit_config robot_moveit_planning_execution.launch sim:=true
roslaunch robot_moveit_config moveit_rviz.launch
rosrun bimanual_manipulation pick_place_collision
Run the lines below in the respective terminals.
roscore
roslaunch robotiq_3f_gripper_control dual_gripper_tcp.launch
roslaunch robotiq_3f_gripper_joint_state_publisher dual_gripper_joint_state_publisher.launch
roslaunch robotiq_3f_gripper_visualization robotiq_gripper_upload.launch
roslaunch ur_robot_driver robot_bringup.launch
roslaunch robot_moveit_config robot_moveit_planning_execution.launch sim:=false
roslaunch robot_moveit_config moveit_rviz.launch
- Mode: basic, pinch, wide scissor
- Action: close, open
rosrun robotiq_3f_gripper_control Robotiq3FGripperSimpleController.py
rosrun robotiq_3f_gripper_control Robotiq3FGripperStatusListener.py
All bug reports, feedback, comments, contributions or remarks are welcome.
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