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I will work with a two-finger gripper and I am still considering programmable vs simple open-close options. I saw that some grippers provide a RS485 serial interface. In such case, would you suggest me to connect the gripper directly to my pc (via RS485-USB connection) or to try and connect the gripper to the IRC5 I/O ports and then control the IRC5 output via the Ethernet connection (that I already use to control the robot positioning)?
After your edit this seems like only partially a ROS issue. Your question leans more to the "how do I connect (insert brand) gripper to an IRC5"-side.
Simple digital / analogue IO based grippers can be directly connected to an IRC5 (the controller should come with the necessary input/output facilities).
As to other interfaces (RS485 fi as you mention) those are typically not available on IRC5 controllers, and will depend on what sort of interfaces you can procure. I'm not up-to-speed with the types of interface modules that are available for ABB controllers.
As to software interfaces to these hw-interfaces (and ultimately your gripper(s)): simple digital / analogue IO can be controlled from ROS (using the same 'ethernet connection' if you want to put it like that) using the drivers that I mention in my comment.
As to everything else: I don't know of any packages that implement interfaces to such devices. Integrating grippers like that is typically done directly from your ROS PC.
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I will work with a two-finger gripper and I am still considering programmable vs simple open-close options. I saw that some grippers provide a RS485 serial interface. In such case, would you suggest me to connect the gripper directly to my pc (via RS485-USB connection) or to try and connect the gripper to the IRC5 I/O ports and then control the IRC5 output via the Ethernet connection (that I already use to control the robot positioning)?
After your edit this seems like it is only partially a ROS issue. Your question leans more to the "how do I connect (insert brand) gripper to an IRC5"-side.
Simple digital / analogue IO based grippers can be directly connected to an IRC5 (the controller should come with the necessary input/output facilities).
As to other interfaces (RS485 fi as you mention) those are typically not available on IRC5 controllers, and will depend on what sort of interfaces you can procure. I'm not up-to-speed with the types of interface modules that are available for ABB controllers.
As to software interfaces to these hw-interfaces (and ultimately your gripper(s)): simple digital / analogue IO can be controlled from ROS (using the same 'ethernet connection' if you want to put it like that) using the drivers that I mention in my comment.
As to everything else: I don't know of any packages that implement interfaces to such devices. Integrating grippers like that is typically done directly from your ROS PC.
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