This repository is based on the original Robotiq repository (which is no longer maintained) and the simulation parts has been updated to ROS Noetic and Gazebo 11.
The implemented models have been extended to work with both
a position interface as well as a effort interface in Gazebo 11:
position_controllers/JointTrajectoryController
effort_controllers/JointTrajectoryController
- Add and update controller files for real robot (+modbus etc.)
This software requires a system setup with Robot Operating System (ROS). It is recommended to use Ubuntu 20.04 with ROS Noetic and Catkin.
The MimicJointPlugin from the roboticsgroup_gazebo_plugins package is needed for the 2F-85 Gripper.
# source global ros
source /opt/ros/noetic/setup.bash
# create a catkin workspace
mkdir -p catkin_ws/src && cd catkin_ws/src
# clone the repositories
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins
git clone https://github.com/srediske/robotiq
# install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -y
# build the workspace
cd ..
catkin build
# activate the workspace (ie: source it)
source devel/setup.bash
For test purposes and as a stand-alone, use the launch file with a fixed Gripper:
roslaunch robotiq_gazebo robotiq_3f_bringup.launch
For integration into bigger environments (e.g. with Robot-arms) create a new package with a high-level .xacro which combines all parts of the new robot.
Use robotiq_3f_description/urdf/robotiq_3f_macro.xacro
, implement it
as child to the robot-arm and add the ros_control plugin,
see robotiq_gazebo/urdf/robotiq_3f.xacro
as an example.
For test purposes and as a stand-alone, use the launch file with a fixed Gripper:
roslaunch robotiq_gazebo robotiq_2f85_bringup.launch
For integration into bigger environments (e.g. with Robot-arms) create a new package with a high-level .xacro which combines all parts of the new robot.
Use robotiq_2f_description/urdf/robotiq_2f_macro.xacro
, implement it
as child to the robot-arm and add the ros_control plugin,
see robotiq_gazebo/urdf/robotiq_2f85.xacro
as an example.
For simplicity, an argument has been added to the top-level launch files
(robotiq_gazebo/launch/robotiq_3f_bringup.launch
and
robotiq_gazebo/launch/robotiq_2f85_bringup.launch
)
to switch between position and effort interface, just use the flag
use_effort_controller:=false
to start with position interface.
By default it's true, so it starts with effort interface.