Sending URScript commands for gripper have no effect (ur_robot_driver) [closed]

asked 2020-01-13 08:20:48 -0600

krablander gravatar image

updated 2020-01-13 08:38:51 -0600

I am trying to control the Robotiq 2f-85 gripper on the UR5 by sending URScript commands.

I am publishing the commands to the /ur_hardware_interface/script_command topic from ur_robot_driver

Example:

rostopic pub -1 /ur_hardware_interface/script_command std_msgs/String "rq_open()"

rq_open() and rq_close() are used to open and close the gripper. The gripper is activated before exetuting these commands.

The script commands work fine when when executing them as separate Scipt Code nodes on the PolyScope tablet.

Why won't the commands work when publishing them to the /ur_hardware_interface/script_command topic?

The ROS driver is running on both the robot side and PC side.

I am running ROS Kinetic on Ubuntu 16.04 Xenial natively on a laptop PC.

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Closed for the following reason duplicate question by gvdhoorn
close date 2020-01-14 05:15:47.340953

Comments

Please post this on the UniversalRobots/Universal_Robots_ROS_Driver issue tracker.

gvdhoorn gravatar imagegvdhoorn ( 2020-01-13 08:54:35 -0600 )edit

I posted the problem in the issue tracker. Maybe it is good to know that I have the same issue when publishing the gripper commands to the URScript topic in ur_modern_driver.

EDIT: other URScript commands unrelated to the gripper are working fine. Example

rostopic pub /ur_hardware_interface/script_command std_msgs/String "data: 'popup(\"hello\")'"
krablander gravatar imagekrablander ( 2020-01-13 09:24:45 -0600 )edit

Closing this (as a "duplicate" as we don't have a proper close reason for this).

You already have someone helping you on the UniversalRobots issue tracker. Let's avoid wasting time and focus efforts there.

gvdhoorn gravatar imagegvdhoorn ( 2020-01-14 05:16:31 -0600 )edit