robotic-vision-lab / ur-robotiq-integrated-driver Goto Github PK

UR Dashboard

• send UR script as secondary program (does not interfere with and can be called simultaneously with External Control)
• analog IO and domain (voltage/current) control

UR Planner

• calculate eef frame based on MoveIt! planned FK
• constrained MoveIt! IK to nearest solution instead of first solution

Robotiq Gripper

• add power state bypass for grippers attached directly to PC

Robot Description

• support more UR arm models
• support more Robotiq gripper models
• support for Fetch Mobile Manipulator
• support for Clearpath Husky UGV
• support for other accessible robots and UxV

We use an UR5e with a 2F-Robotiq-Gripper directly connected to the M8-UR-Tool-Connector.
After days of work we still cannot open or close the gripper from ROS-Noetic / MoveIt! or a python-script running on the remote-PC.

• Could you please supply us with a simple example how to use the UR-Robotiq-Integrated-Driver?

• How can we check the MODBUS on the UR5e-Controller-Box?

• Which of the launch-files have to be started?

We started $ roslaunch rvl_ur_remote_dashboard rvl_ur5e_bringup.launch
and $roslaunch rvl_ur5e_moveit_config demo.launch

• Can I use the MoveIt!_RViz-API to get the Gripper moving?
• Is there a "Hello Gripper" Python-Script for testing?
• A Block-Diagramm where all the packages have to be installed would be very helpful.

Many Thanks in advance from the Westphalian University of Applied Sciences in Bocholt / Germany.