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onrobot

ROS onrobot meta-package

Packages

onrobot_description

This package contains the description of OnRobot RG2 and RG6 grippers. The descriptions are based on the URDF format.

Grippers

onrobot_control

This package implements the onrobot_gripper_node for interfacing RG2 or RG6 grippers attached to a Universal Robot (UR3, UR5, UR10) from ROS. The node publishes the state of the gripper and offers a standard gripper action recognized by MoveIt!: control_msgs::GripperCommandAction(width, max_effort)

Important:

  • The package supports grippers attached to a Universal Robot controlled by theUniversal_Robots_ROS_Driver.
  • The package assumes a gripper in a Teach Mode (without installed OnRobot UR Caps). See the Teach Mode section in the gripper instruction for details. In this mode only two gripper positions are supported: fingers fully opened and fingers fully closed.

You can launch the onrobot_gripper_node with:

roslaunch onrobot_control onrobot_gripper.launch

Parameters:

  • ur_hardware_interface - Universal Robot driver namespace, default "/ur_hardware_interface"
  • joint - gripper joint name in the robot description URDF, default "gripper_joint"
  • max_position_voltage - analoug feedback voltage which correspond to the maximum width, default 3.0. See the Analog feedback section in the gripper instruction for details.
  • state_publish_rate - joint states publish rate, default 50.0 Hz
  • action_monitor_rate - GripperCommandAction feedback publish rate, default 20.0 Hz