I want use UR5 with Robotiq 2F-85 Gripper but gripper don't sending joint_state msg

asked 2019-08-18 10:03:01 -0500

kimminseo7 gravatar image

I want use UR5 with Robotiq 2F-85 Gripper, so I made Xacro File. I just connect UR5 Parent link and gripper child link. Except for the part corresponding to the gripper, the /joint_states information of the manager is passed well.

I have tried some test

  1. when I call the topic /tf,There were only topics related to the UR5 and no msgs related to the gripper
  2. same as 1, I tested /joint_states topic, there were no msgs related gripper
  3. So, I check node joint_stete_publisher, I can control using GUI controller in RVIZ but that can't control in gazebo

so, when I use robot_state_publisher node, How can I show /tf , /joint_state information about robotiq 2f-85 gripper. now... show up msgs related UR5 Joint (elbow_joint, shoulde_lif_joint, shoulder_pan_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint).


[unversal Robots] http://wiki.ros.org/action/fullsearch...

[robotiq 2F_85]

https://github.com/Danfoa/robotiq_2fi...

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