onrobot

ROS drivers for OnRobot Grippers. This repository was inspired by ros-industrial/robotiq.

Features

• Ubuntu 20.04 PC
  • ROS Noetic (Python3)
• Controller for OnRobot RG2 / RG6 via Modbus/TCP
• Controller for OnRobot VG10 / VGC10 via Modbus/TCP

Dependency

• pymodbus==2.5.3
• roboticsgroup/roboticsgroup_upatras_gazebo_plugins

Installation

cd catkin_ws/src
git clone https://github.com/takuya-ki/onrobot.git --depth 1
git clone https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git --depth 1
cd ../
sudo rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y --os=ubuntu:focal -y
sudo apt install ros-noetic-ros-control ros-noetic-ros-controllers
catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3

Usage

1. Connect the cable between Compute Box and Tool Changer
2. Connect an ethernet cable between Compute Box and your computer
3. Execute programs (Please refer to onrobot/Tutorials)

RG2 / RG6

Send motion commands

Interactive mode

roslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6] ip:=XXX.XXX.XXX.XXX
rosrun onrobot_rg_control OnRobotRGSimpleController.py

ROS service call

roslaunch onrobot_rg_control bringup.launch gripper:=[rg2/rg6] ip:=XXX.XXX.XXX.XXX
rosrun onrobot_rg_control OnRobotRGSimpleControllerServer.py
rosservice call /onrobot_rg/set_command c
rosservice call /onrobot_rg/set_command o
rosservice call /onrobot_rg/set_command '!!str 300'
rosservice call /onrobot_rg/restart_power

Simulation

Display models

roslaunch onrobot_rg_description disp_rg6_model.launch
roslaunch onrobot_rg_description disp_rg2_model.launch

Gazebo simulation

roslaunch onrobot_rg_gazebo bringup_rg6_gazebo.launch
rostopic pub -1 /onrobot_rg6/joint_position_controller/command std_msgs/Float64 "data: 0.5"
roslaunch onrobot_rg_gazebo bringup_rg2_gazebo.launch
rostopic pub -1 /onrobot_rg2/joint_position_controller/command std_msgs/Float64 "data: 0.5"

VG10 / VGC10

Send motion commands

Interactive mode

roslaunch onrobot_vg_control bringup.launch ip:=YYY.YYY.YYY.YYY
rosrun onrobot_vg_control OnRobotVGSimpleController.py  

ROS service call

roslaunch onrobot_vg_control bringup.launch ip:=YYY.YYY.YYY.YYY
rosrun onrobot_vg_control OnRobotVGSimpleControllerServer.py  
rosservice call /onrobot_vg/set_command g
rosservice call /onrobot_vg/set_command r
rosservice call /onrobot_vg/set_command '!!str 128'

Simulation

Display models

roslaunch onrobot_vg_description disp_vgc10_1cup_model.launch
roslaunch onrobot_vg_description disp_vgc10_4cups_model.launch
roslaunch onrobot_vg_description disp_vg10_model.launch

Author

Takuya Kiyokawa

Contributors

Roberto Mendivil C

License

This software is released under the MIT License, see LICENSE.