igor-lirussi / gripper3f_interface

Gripper3F Robot interface for controlling the robotic gripper with ROS

Gripper3F_interface

Gripper3F Robot interface for controlling the robotic gripper with ROS

Description

This repo allows you to control easily the Gripper3F from your computer with ROS, sending commands (open, close) and changing gripping modes. Also, is possible to set up the force, speed, and the precise position to go.

It's designed to work also with the UR10 robot interface

Topics:

• Robotics
• Gripper

Result

Requirements & Dependencies

• ROS
• rospy and numpy
• https://github.com/ros-industrial/robotiq build in your system with catkin
• https://github.com/Nishida-Lab/robotiq_3f_ros_pkg build in your system with catkin

Install

• install the Requirements & Dependencies
• clone this repo in your project

Run

• remember to source the setup.bash of catkin
• run the gripper node
• use the interface as in the "Code" section

Example:

# on the external pc

# FOR THE GRIPPER
# source the knowledge for ROS
source /home/ur-colors/UR10_dockerized/catkin_ws/devel/setup.bash 
# activate your env to have your pkgs installed
conda activate ur10_py3.9
# launch the node for the gripper, it moves to calibrate
roslaunch robotiq_3f_driver listener.launch ip_address:=192.168.0.11

Code

from gripper3f_interface import Gripper
import rospy

rospy.init_node("gripper")
rospy.sleep(1.0)
gripper = Gripper()
gripper.activate_gripper()

gripper.close_gripper()

Useful Resources & Extra

• https://github.com/ros-industrial/robotiq
• https://github.com/Nishida-Lab/robotiq_3f_ros_pkg

Authors

• Igor Lirussi @ BOUN Boğaziçi University - CoLoRs (Cognitive Learning and Robotics) Lab

Acknowledgments

• All the people that contributed with suggestions and tips.

License

This project is licensed - see the LICENSE file for details.