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proper guide to adding a gripper to my robot in rviz2 and moveit2

asked 2021-08-04 07:39:38 -0500

takti gravatar image

im currently running ros2 on foxy and using this driver for the UR10e which works perfectly fine, but now im trying to add a gripper to this setup to properly control everything with moveit2. I have assembled my own action server for the gripper. The gripper i have is the Robotiq Hand-E.

Unfortunately I dont know where to start with adding the gripper to my virtual setup. Do I have to rewrite all urdf and srdf files?

I would greatly appreciate it if someone could guide me through the process

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Hello @takti,

do you mind sharing the action server that you have created. it would be really helpful if you can provide me with it as I am new to ROS and cannot find any gripper that can be controlled using ROS2 or has a dedicated ROS2 driver. Please do let me know if it is possible for you to share the action server with me :)

anujros2noob gravatar image anujros2noob  ( 2022-06-21 04:11:47 -0500 )edit

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answered 2021-09-22 05:29:36 -0500

Ranjit Kathiriya gravatar image

updated 2021-09-22 05:31:23 -0500

Hello @takti,

You just have to add in your URDF including your link, join. Then you have to upload that urdf file into your moveit and configure your gripper into the moveit.

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hi, it's still confusing how you wrote it, could you be a bit more specific? Thank you

errixerri gravatar image errixerri  ( 2022-10-18 07:32:44 -0500 )edit

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Asked: 2021-08-04 07:39:38 -0500

Seen: 491 times

Last updated: Jun 21 '22