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How to make the PG70 gripper in the Schunk Lwa4p work?

asked 2015-09-23 06:47:21 -0600

Jorgelu gravatar image

updated 2015-09-23 07:33:34 -0600

Hi, I was able to make to make the lwa4p work using Peak CAN Adapter through the schunk_robot package . However when I try to configure the Gripper i found some package but or they are obsolete (Brics_showcase_industry) or are not configure for this Gripper(wsg_50). I used the ros_canopen package but I dont know how to configure it to use this gripper.

PS: I am using ROS Indigo..

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Hi Jorgelu, I have problems on how to use ros_canopen. I use a usb-to-can from IXXAT corp. I'm new to ROS. I don't know how to use the package. Do you have any ideas? Many thanks.

Craig gravatar imageCraig ( 2016-05-03 02:38:36 -0600 )edit

Jorgelu, Hello, thank you for the link below that code helps alot. However I use the Schunk LWA3 and with the yaml files used to launch the arm I am unsure how the grippers modules are specified as not a rotary joint? Do you have any ideas?

lammer18 gravatar imagelammer18 ( 2018-07-23 10:36:14 -0600 )edit

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answered 2015-09-29 04:28:45 -0600

Jorgelu gravatar image

For anyone interested i changed the config files of the schunk_lwa4p including the PG70 gripper to them. It is working fine using the IPA dashboard (I put some values to test).

https://github.com/jlarraez/schunk_lwa4p

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Hello Jorgelu, I am trying to create a moveit package for Schunk LWA4P and PG70 together. It requires all dimensions to be in the same unit. so it would be helpful if i obtain below, Can you please describe on what basis you fixed gripper limits as 0.3 to 1.14?
what physical unit does it follow?

SaranKanag gravatar imageSaranKanag ( 2016-05-12 01:59:51 -0600 )edit

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Asked: 2015-09-23 06:47:21 -0600

Seen: 618 times

Last updated: May 03 '16