Robotiq Gripper ROS package to give fulll functionality of the two finger Robotiq gripper on ROS. This package was developed based on the functionality requirements gathered from the RROS-Lab team. Code was developed from Benoit CASTETS's Robotiq Gripper code.

Please note: Do NOT use the pypi.org version of minimalmodbus (use this repo's instead) due to a BAUDRATE error!

roslaunch Robotiq_Gripper gripper.launch

Allows for multiple grippers to be controlled (requires gripper to be attached to a robot)

• moveGripper: Moves the gripper based on what robot it is attached to.
• grip_state: Shows the grip state of each gripper (along with which robot it is attached to)

rostopic pub /moveGripper Robotiq_Gripper/change_state robot_name position speed force justGrap

If justGrasp is set to True, the gripper will just go to a position that ideally grips the object.

rostopic echo /grip_state

Returns gripper_name (also known as robot_name), position_state, force_state, speed_state, activated (True if object is in gripper's grasp)

Add to this dictionary

#COMs ports to connect gripper to respective robot
#Requires which robot the gripper is attached to and the COM PORT
robot_comms = {
    'bkuka': gripperControl('bkuka', "/dev/ttyUSB1"),
    'gkuka': gripperControl('gkuka', "/dev/ttyUSB2"),
}

├── CMakeLists.txt  
├── launch  ──
│   └── gripper.launch  
├── LICENSE  ──
├── msg  
│   └── change_state.msg  
│   └── grip_state.msg
├── package.xml  
├── README.md  
├── src  
│   ├── gripper_ctrl.py
|   ├── gripper_lib.py 
│   ├── gripper_publish.py  
└────── minimalmodbus.py 

Benoit CASTETS's Robotiq Gripper code allows for the grippers to move in millimeter increments. We have included that portion into our codebase but have not taken advantage of that feature.