Files for UR5 with Robotiq Wrist Camera, FT300, and 2 finger gripper

asked 2017-11-10 11:35:15 -0500

inertialframe gravatar image

Hi All,

New to the world of ROS and still coming to terms with it. I am running 16.04 with Kinetic and have got the ur_modern_driver to work with the UR5 based on this page: https://github.com/olinrobotics/irl/w... By work, I mean that test_move.py does its magic and moveit! motion plans are being executed on both the gazebo model and the real robot. Needless to say, It is all really impressive stuff. Kudos to all involved in the work!

However, as I prepare to go deeper into my research project, I will need models that are more specific. Thus, I am looking to get my gazebo and moveit files to show a robot arm with the following appendages: 1. the Robotiq FT300 torque sensor 2. the Robotiq Wrist Cam, and 3. the two finger gripper. If someone already has this setup, I would greatly appreciate being directed to your github so I can acquire it. If not, I would also appreciate guidance on how to do this on my own. Always happy to learn to build things up on my own.

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did you get any further with this?

philwall3 gravatar imagephilwall3 ( 2017-11-30 04:53:34 -0500 )edit

I actually have made some progress on it; I have a urdf which mounts the 140 mm gripper on a UR5 is here. It was not really obvious to me that the 140 mm gripper lives in a directory with an unintuitive name.

inertialframe gravatar imageinertialframe ( 2017-11-30 08:14:57 -0500 )edit

However, I am having some issues with the gripper and 'MoveIt!' that I am trying to figure out; the articulation of the gripper is incorrect in MoveIt's setupAssistant which has to do with some issues in the URDF from what I can tell. Then I have to figure out real gripper control planning on MoveIt

inertialframe gravatar imageinertialframe ( 2017-11-30 08:17:12 -0500 )edit

Any guidance on sorting out the MoveIt stuff for the gripper would be great, if you have already resolved it.

inertialframe gravatar imageinertialframe ( 2017-11-30 08:17:40 -0500 )edit

Not sure what you mean by "articulation of the gripper", but I am using this package for my 85 gripper: https://github.com/StanleyInnovation/... So far I have a gazebo simulation that I can control with moveit. Now I'm trying to integrate the driver so I can control the real gripper.

philwall3 gravatar imagephilwall3 ( 2017-12-07 05:59:43 -0500 )edit

For getting the gripper to work through keyboard commands, this was helpful: https://dof.robotiq.com/discussion/19...

inertialframe gravatar imageinertialframe ( 2017-12-07 08:33:11 -0500 )edit

As for 'articulation', I just mean the motion of the two fingers; they should go through equal and oppotie displacements but the urdf has some incorrect specs which need fixing. Were you able to setup moveit_config to get motion planning working correctly on MoveIt for the 85?

inertialframe gravatar imageinertialframe ( 2017-12-07 08:35:16 -0500 )edit

Thanks, I'll have a look at that link and see if there is any new information I could use.

philwall3 gravatar imagephilwall3 ( 2017-12-07 08:46:10 -0500 )edit