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Controlling the RG2 gripper solely using the ROS (without URScript) might not be possible since the UR controller doesn't run on ROS which is provided in answer by @ThomasTimmAndersen. As far as i know the driver from the UR controller only accepts commands using URScript.

I have come across some posts saying you can communicate with universal robot with C-api, but in the end it just points to the ROS's universal_robot and ur_modern_driver package.

"RG2 gripper model is one big static mesh". I had contacted the makers of RG2 gripper for providing the STEP/mesh file for the gripper body and its fingers. But they had provided me with just a single STEP file for the entire gripper. I can understand you will not able to simulate the finger motion without separate mesh for the fingers. I would suggest you to contact OnRobot requesting them to provide the gripper body and its fingers STEP/mesh files separately.

Controlling the RG2 gripper solely using the ROS (without URScript) might not be possible since the UR controller doesn't run on ROS which is provided in answer by @ThomasTimmAndersen. As far as i know the driver from the UR controller only accepts commands using URScript.

I have come across some posts saying you can communicate with universal robot with C-api, but in the end it just points to the ROS's universal_robot and ur_modern_driver package.

"RG2 gripper model is one big static mesh". I had contacted the makers of RG2 gripper for providing the STEP/mesh file for the gripper body and its fingers. But they had provided me with just a single STEP file for the entire gripper. I can understand you will not able to simulate the finger motion without separate mesh for the fingers. I If its really needed then would suggest you to contact OnRobot requesting them to provide the gripper body and its fingers STEP/mesh files separately. separately.

Controlling the RG2 gripper solely using the ROS (without URScript) might not be possible since the UR controller doesn't run on ROS which is provided in answer by @ThomasTimmAndersen. As far as i know the driver from the UR controller only accepts commands using URScript.

I have come across some posts saying you can communicate with universal robot with C-api, but in the end it just points to the ROS's universal_robot and ur_modern_driver package.

"RG2 gripper model is one big static mesh". I had contacted the makers of RG2 gripper for providing the STEP/mesh file for the gripper body and its fingers. But they had provided me with just a single STEP file for the entire gripper. I can understand you will not able to simulate the finger motion without separate mesh for the fingers. If its it's really needed then would suggest you to contact OnRobot requesting them to provide the gripper body and its fingers STEP/mesh files separately.

Controlling the RG2 gripper solely using the ROS (without URScript) might not be possible since the UR controller doesn't run on ROS which is provided in answer by @ThomasTimmAndersen. . As far as i know the driver from the UR controller only accepts commands using URScript.

I have come across some posts saying you can communicate with universal robot with C-api, but in the end it just points to the ROS's universal_robot and ur_modern_driver package.

"RG2 gripper model is one big static mesh". I had contacted the makers of RG2 gripper for providing the STEP/mesh file for the gripper body and its fingers. But they had provided me with just a single STEP file for the entire gripper. I can understand you will not able to simulate the finger motion without separate mesh for the fingers. If it's really needed then would suggest you to contact OnRobot requesting them to provide the gripper body and its fingers STEP/mesh files separately.