robotiq_85_gripper

Common packages for the Robotiq 85 Gripper provided by Stanley Innovation

Build

colcon build --symlink-install

Run

By defualt the driver will open up port 'ttyUSB0' and 115200 baud rate.

ros2 launch robotiq_85_driver gripper_driver.launch.py

Open/close the gripper by sending an action request. The position is the distance between the end effectors (max is 8cm)

ros2 action send_goal /gripper_action/GripperCommand control_msgs/action/GripperCommand "{command: {position: 0.05, max_effort: 5.0}}"

Communication Port

There have been issues with opening a comm port for the gripper. As a debugging step make set the port permissions and add the user to the dialout group.

Note: Some computers don't experience this comm port issue and it might be due to the type of USB port.

sudo chmod 666 /dev/ttyUSB0
sudo chown $USER /dev/ttyUSB0
sudo adduser $USER dialout

Issues

The ros2 driver does not currently work with MoveIt2. When the action server sends a gripper command to either open or close the gripper the wrong joint states are pubished by the driver causing MoveIt2 to report a failure. The GripperCommand message specifies the open/close distance between the end effectors this needs to be reflected in the srdf.

<group_state name="open" group="gripper">
    <joint name="robotiq_85_left_knuckle_joint" value="0.7929" />
    <joint name="robotiq_85_right_knuckle_joint" value="0.7929" />
</group_state>
<group_state name="close" group="gripper">
    <joint name="robotiq_85_left_knuckle_joint" value="0" />
    <joint name="robotiq_85_right_knuckle_joint" value="0" />
</group_state>