ur5 with 2f-140 gripper on real hardware

asked 2019-08-05 08:22:14 -0600

BengisuA14 gravatar image

updated 2019-08-05 08:22:32 -0600

Hello,

I am quite new to ROS and robotics world. I am working on a ur5 arm attached to a Robotiq 2f-140 gripper. I have successfully simulated the robot on Gazebo and Rviz using MoveIt.

Now, I need to run Rviz and MoveIt on real hardware. We are currently using ur_modern_driver to launch the ur5. (and want to keep working with it)

What changes should I make to ur modern driver to be able to launch ur5 with the gripper attached? Should I add gripper control controllers to configs and add an extra gripper driver?

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