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Control 2f gripper in RVIZ/Gazebo simulation #161

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YueqiYu opened this issue Jul 24, 2019 · 3 comments
Open

Control 2f gripper in RVIZ/Gazebo simulation #161

YueqiYu opened this issue Jul 24, 2019 · 3 comments

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@YueqiYu
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YueqiYu commented Jul 24, 2019

Hi, I'm able to install the robotiq 2f 140 gripper to ur5 model and do path planning or move ur5 robot in gazebo/ rviz, but don't know how to control this gripper to close and open, is there a specific code example? Thank you so much!

@GDUTwd
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GDUTwd commented Mar 26, 2020

hi,I've been combining gripper with ur5 recently,but i get some trouble ,The gripper is shaking all the time,would you like to tell me the steps to combine gripper and ur successfully? thank you so much!

@ysl208
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ysl208 commented Dec 11, 2020

Hi, i tried the robotiq_2f_gripper_action_server on my real UR5 robot, but it doesn't seem to work.

It gives me a warning gripper could not accept goal because the gripper is not yet active, but I don't know how to activate it, it seems that I need to publish something in the /input topic

@L-eonor
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L-eonor commented Mar 29, 2021

You can control it by using a SimpleActionClient (http://wiki.ros.org/actionlib_tutorials). It works as following: http://wiki.ros.org/actionlib#Client-Server_Interaction

For that, you'll need to:

Note: if grasping an object and commanding the gripper to fully close, the position won't be reached (gripper doesn't close fully because of the object). As consequence, won't be a result message returned from server.

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