danfoa / robotiq_2finger_grippers Goto Github PK

Hello! I'm having trouble when using this package, using MoveIt to control a real robot. The 2-finger gripper is connected to a UR5 arm. All seems to be fine, with the gripper attached properly in rviz and moving as expected when commanded.

The trouble is with MoveIt. I used the MoveIt setup assistant to create a collision matrix, set up groups, etc. Yet when I launch MoveIt in rviz, the gripper seems to be colliding with itself. I get the following errors when MoveIt tries to plan:

• Found a contact between 'gripper_left_inner_knuckle' (type 'Robot link') and 'gripper_left_inner_finger' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
• Collision checking is considered complete (collision was found and 0 contacts are stored)
• Start state appears to be in collision with respect to group manipulator

Can you suggest anything I might investigate to eliminate the collision condition I'm experiencing? Or a known reliable MoveIt! configuration? Thanks!

Hi,

I am trying to use the robotiq_2f_action_client_example.py but the following line
from robotiq_2f_gripper_msgs.msg import CommandRobotiqGripperFeedback, CommandRobotiqGripperResult, CommandRobotiqGripperAction, CommandRobotiqGripperGoal
returns an error:

No module named my_folder.robotiq_2f_gripper_msgs.msg

Was there something changed here or what am I missing?

Best

Hi! Would it be possible to show an example of how to spawn your models in Gazebo 9? Like a robotiq_2f_85_gripper_simulation package, for instance.

I'm trying to use this package only in simulation, I don't have the real gripper. But I have an error that says:
from pymodbus.client.sync import ModbusSerialClient
ImportError: No module named pymodbus.client.sync
The question is, can I use this package without having the real gripper?

While controlling gripper using C++, catkin warning appears:
Warning: Cannot symlink from /home/artemii/robotmove_ws/devel/.private/myworkcell_demo/lib/python2.7/dist-packages/robotiq_2f_gripper_control/__init__.py to existing file /home/artemii/robotmove_ws/devel/lib/python2.7/dist-packages/robotiq_2f_gripper_control/__init__.py Warning: Source hash: fc022dd798d6b7e274f2ad0844eaeb0b Warning: Dest hash: 0e8d2401a15010fceb3aab8bb23e71a5
Not sure, if it's related to the package. Thanks

Hi. Thank you for such a great work. I have successfully managed to control my gripper through [CommandRobotiqGripper.action].
However, it would be great if I can control it through [FollowJointTrajectory.action] using moveit.
I am having a hard time trying to figure how to control it through moveit. (I tried moveit_setup_assistant)

Can you give me instructions on how to setup moveit?? @Danfoa

Hi, thanks for your wonderful driver.

I want to include action client to a moveit code, I want to call the server after excuting motion command.

I do not know how to instantiate the client using RobotiqActionClient gripper = new RobotiqActionClient(action_name, wait_for_server);

When I put this inside main(), or outside of any function, the error says:

conversion from ‘RobotiqActionClient* {aka robotiq_2f_gripper_control::RobotiqActionClient*}’ to non-scalar type ‘RobotiqActionClient {aka robotiq_2f_gripper_control::RobotiqActionClient}’ requested

Could you give any hint?

I'm connecting real Robotiq85 with a Moveit!, gripper works well, thanks to your package, but Moveit! one looks like this:

Is there any mistakes or that's how it is supposed to work?
I added finger_joint as an active as you can see, others are passive.

I follow all your installation but when I build the package I receive fatal error fatal error: robotiq_2f_gripper_msgs/CommandRobotiqGripperAction.h: No such file or directory
I check all package and I find that no file like that in the package
So pls help me to update the file
I want to ask a question about create cartesian trajectory I have create a custom arm with 3 Dof and then I can simulate it on gazebo and Rviz I can use the random valid for arm and execute it on Rviz and Gazebo but when I try coding to send command to Moveit to plan a trajectory there are no valid sample and no plan found (I also check the end effector from tflistener to get ee pose ) so I am sure that the pose is valid I using Trac-Ik for arm

Would it be possible to add official support for the Robotiq Hand-E? From my testing, it looks like communications are the same as with the larger 85mm Robotiq gripper. But of course, the stroke is not the same, and the xacro and mesh will differ as well.