macs-lab / robotiq_hande_ros_driver

ROS driver for Robotiq Hand-E gripper mounted on UR robot

robotiq_hande_ros_driver

This is the ROS driver for Robotiq Hand-E gripper. We assuming that the gripper is mounted on an UR robot, and the PC is connected with UR through Ethernet cable. You need to properly configure your networks such that PC and Robot can ping each other.

Install

Simply clone this package to your ROS catkin src folder then build the catkin workspace.

cd ~/your_ws/src
git clone https://github.com/macs-lab/robotiq_hande_ros_driver.git
cd ..
catkin_make

Usage

Create or modify the existing launch file based on your needs.

• robot_ip: the IP address of your UR robot

Then start the driver by running the launch file. The gripper is controlled using ROS service.

Services allows the driver to send feedback when the finger action completes. This is useful when you want the program to wait until gripper complete its movement. See test.py for example usage.

Questions

Have questions? Open up a discussion here

robotiq_hande_ros_driver's Issues

AttributeError: speed is not an attribute of gripper_serviceRequest

Hi,

I'am working with UR3e-series robot with hande gripper and ROS. I'm triying to control the gripper with hande_ros_driver. When i use the test script I get the following error (speed is not an attribute of gripper_serviceRequest):

`[INFO] [1619019244.899597]: using service
Traceback (most recent call last):
  File "test.py", line 13, in <module>
    response = gripper_srv(position=0, speed=255, force=255)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 498, in call
    request = rospy.msg.args_kwds_to_message(self.request_class, args, kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/msg.py", line 105, in args_kwds_to_message
    return data_class(**kwds)
  File "/home/geekayman/ur_real_robot_ws/devel/lib/python2.7/dist-packages/robotiq_hande_ros_driver/srv/_gripper_service.py", line 35, in __init__
    super(gripper_serviceRequest, self).__init__(*args, **kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/genpy/message.py", line 351, in __init__
    raise AttributeError('%s is not an attribute of %s' % (k, self.__class__.__name__))
AttributeError: speed is not an attribute of gripper_serviceRequest`

when I use the old version it works but I can only open and close. I can't get an intermediate position of the gripper.

rospy.init_node("gripper_test_node")
## using ROS service
rospy.loginfo("using service")
gripper_srv = rospy.ServiceProxy('gripper_service', gripper_service)
# open gripper
response = gripper_srv(1)
# close gripper
response = gripper_srv(0)

Versions

• ROS Driver version: ROS Melodic
• Affected Robot Hardware Version(s): UR3e-series