LBR iiwa with gripper robotiq_2f_85 #169
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wow! This is awesome progress @antonio1matos , love it! Would you be able to create a pull request, I can create a Please also feel free to tag me (@mhubii) if you need quicker responses. |
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Ok, I'll try to do that. I'll let you know once it's done. |
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@mhubii do i have the rights to push the package i have on my pc? Please make sure you have the correct access rights |
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so you'd have to create a fork, see below
you can then make changes to your fork and create a pull request. In turn, I can request changes to your fork. Once we are happy with everything, we can merge your fork back into this repository. |
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Hi @mhubii |
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that would be quite cumbersome, and I would prefer not to do it that way |
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OK, one question. After forking your repository, do I need to clone the forked repository again? Or since I already have the package on my PC with the changes made, do I just need to push it to GitHub? |
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Hi @mhubii |
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Oh yes, true. That is something we can work on |
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Ok nice. If you then run: ros2 launch lbr_bringup bringup.launch.py model:=iiwa14 moveit:=true you will see that the robot will appear with the gripper and you will be able to plan a trajetory. To do that you need to put in MOtion Planning -> Interactive Marker Size 0.2 to be able to move the arm the way you want in the rviz as you can see the in the following picture. Btw in the robotiq_gripper package in the package robotiq_description -> folder urdf -> file 2f_85.ros2_control.xacro i added the link_ee in:Instead of being:I put:After that if you run: ros2 launch lbr_bringup bringup.launch.py model:=iiwa14 moveit:=true you will that problem that was showing in the terminal that was: |
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do you think it would be possible to put these changes into a new package under |
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Yes, i think so. |
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maybe just a quick install instructions, or in case the package is on the ros index, might put it into |
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@mhubii |
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@mhubii do you want me to add you as collaborator in the repository: antonio1matos/lbr_fri_ros2_stack? |
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I can attempt to give you some high level suggestions, but you might need to work on some details yourself |
Ok, sure. Any suggestion is always welcome.
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Hi @mhubii |
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it could be that they are uncontrolled, but unsure. Could you put your terminal output here? |
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antonio@antonio-HP-Pavilion-Laptop-15-cs1xxx:~$ ros2 launch lbr_bringup bringup.launch.py model:=iiwa14 moveit:=true |
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this could be a relevant error [gzserver-1] [ERROR] [1713438949.299166307] [lbr.gazebo_ros2_control]: The plugin failed to load for some reason. Error: According to the loaded plugin descriptions the class mock_components/GenericSystem with base class type gazebo_ros2_control::GazeboSystemInterface does not exist. Declared types are gazebo_ros2_control/GazeboSystem |
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@antonio1matos hi, were you able to solve this problem? |
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Yes. At the time the problem was solved. Right now i'm using another gripper with the robot iiwa14. Now im a little busy but i had to change some parts in the urdf files to solve that problem. |
Will it be possible to share the solution in your free time? Thanks in advance. |
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Sure. Do you have already the package of the arm with the gripper as presented in the pictures above? |
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Hi @antonio1matos I am using the real.launch.py as I am using real robot. I have the URDF file with arm+gripper (picture attached). |
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Hi @Miftahur92 . Until now I have never used communication with the real robot so I don't know if I will be of much help, because the package I made was intended to only be used with a physical simulator, in this case the gazebo. But I can tell you some things I did: |
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In my case, as I was using the gazebo, I added the ld.action of the arm controller to the sim.lunch.py file. In your case, since you will use real.launch.py i think you will have to do the same. However, in this case this file is not very important because since you are using the sim.launch.py or real.launch.py launch files you are not using the ros2_controllers.yaml file that is in the iiwa14_moveit_config/config package, but the lbr_controllers.yaml file in lbr_ros2_control/config . It should be noted that I have in hand_controller /**/. |
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If you are using the file sim.launch.py or real.launch.py you are reading the urdf: iiwa14.urdf.xacro, which is reading the file iiwa14_description.urdf.xacro and which this one is reading the file lbr_system_interface.xacro in lbr_ros2_control/config. From what I understand, this last file is responsible for sending the controllers to the plugin hardware you want. For example, if you wanted the gazebo you would define in the launch file that sim= True, which is the case for the sim.launch.py file. yes=False uses the real robot's plugin hardware (lbr_ros2_control::SystemInterface) which is the case with the real robot. In your case, if you want to control the opening of the gripper through this package, you may have to add a condition to the launch file real.launch.py that indicates that the variables sim_isaac, sim_ignition or use_fake_hardware are not active to control the gripper. I did it this way, which means, I didn't use the original file 2f_85.ros2_control.xacro because I think I would have to define in the launch file the value to choose which hardware plugin for the gripper I should use and I didn't know very well how to define this in the code so I created the robotiq_ros2_control_joints.xacro file. But in your case if you want to use the hardware plugin related to the real gripper: robotiq_driver/RobotiqGripperHardwareInterface this way I don't think it will work. So as I said it might not be much help in your case. Anyway, you can always try to do what I did and see if you get better results. I advise you to back up the package you have (ex: save the one you have now in a zip file in case you have any problems later). In my case, when I wanted to open the gripper or close it in moveit, i did this: ros2 action list -t and the following action should appear: /lbr/hand_controller/gripper_cmd control_msgs/action/GripperCommand If you want to control the gripper through the terminal, I would do, for example: ros2 action send_goal /lbr/hand_controller/gripper_cmd control_msgs/action/GripperCommand "command: where in position I defined how much I wanted to open/close. I hope I have helped in something. |
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Hi @antonio1matos thank you for your detail instruction. Certainly this will be helpful. |
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okay so #193 is now supported, hence a gripper demo is now needed |
Recently, I started using the lbr iiwa14 arm. I used the launch file code: sim.launch.py from the lbr_bringup package. I wanted to add a gripper to the arm to start performing pick and place operations in the future, and the gripper I used was the robotiq_2f_85 found in https://github.com/PickNikRobotics/ros2_robotiq_gripper.
To add the gripper to the end-effector of the iiwa14 arm, I went to the iiwa14 urdf and added the following line:
<xacro:include filename="$(find robotiq_description)/urdf/robotiq_2f_85_gripper.urdf.xacro" />
So the iiwa14 urdf became:
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- joint_trajectory_controller
- arm_controller
- hand_controller
joint_trajectory_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- A1
- A2
- A3
- A4
- A5
- A6
- A7
action_ns: follow_joint_trajectory
default: true
arm_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- A1
- A2
- A3
- A4
- A5
- A6
- A7
hand_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- robotiq_85_left_knuckle_joint
Finally, when I try to run the sim.launch.py launch file again, the arm already appears with the gripper, and it is possible to plan a movement, as shown in the attached image
However, when I use the execute command, it fails. I cannot execute the movement. I believe this is due to the fact that the terminal shows this:
[move_group-8] [WARN] [1713220742.262760755] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known. Missing robotiq_85_left_knuckle_joint
It is not able to detect the robotiq_85_left_knuckle_joint joint. I believe this may be due to the fact that in the sim.launch.py launch file, functions like LBRDescriptionMixin, LBRROS2ControlMixin are called, where in the launch files where I use these classes, I do not define the gripper, such as in LBRROS2ControlMixin I only define the controllers related to the arm and not the gripper. Therefore, I would like to know if anyone could tell me if my addition process to the arm is correct, and if so, what I should edit in the launch files present in the lbr-stack so that I can already execute the trajectory of the arm+gripper.
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