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How can I spawn a Robotiq Gripper with an UR5 in Gazebo and Rviz using Moveit! ?

Hi there,

I'm trying to create a simulation with an UR5, the Robotiq FT150 Sensor and the Robotiq 85 Gripper. Github/universal_robot, Github/robotiq

I integrated the gripper by referencing it in the ur5_robot.urdf:

  <!-- 85 -->
  <xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.xacro" />
  [...]
  <joint name="Gripper_Adapter_Fix" type="fixed">
   <parent link="fts_toolside" />
   <child link="robotiq_85_root" />
   <origin xyz="0.0 0.0 0.1" rpy="0.0 ${- pi / 2} 0.0" />
  </joint>

The model of the gripper (Github/StanleyInnovations) is not suitable for Gazebo at the moment, so I tried to fix it using transmissions:

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="robotiq_85_gripper_transmission" params="prefix">

   <transmission name="${prefix}robotiq_85_left_knuckle_trans">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="${prefix}robotiq_85_left_knuckle_joint">
       <hardwareInterface>PositionJointInterface</hardwareInterface>
     </joint>
     <actuator name="${prefix}robotiq_85_left_knuckle_motor">
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

 </xacro:macro>
 </robot>

But now this appears, while launching the model:

[...]
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.110.200
[INFO] [WallTime: 1448960579.834783] [0.765000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1448960579.992465659, 0.765000000]: Loading gazebo_ros_control plugin
[ INFO] [1448960579.992562338, 0.765000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1448960579.993397424, 0.765000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/spawn_gazebo_model-3*.log
[ WARN] [1448960580.154895328, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.154951108, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.155454039, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.155989982, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.156066422, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.156464493, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.156852348, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.156876036, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.157257797, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.157631933, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.157655654, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.158047017, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.158442487, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.158467058, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.158913378, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.159315827, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.159340518, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.159694419, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ INFO] [1448960580.178391688, 0.765000000]: Loaded gazebo_ros_control.
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
Loaded joint_state_controller
Started ['joint_state_controller'] successfully
Loaded arm_controller
Started ['arm_controller'] successfully
[joint_state_controller_spawner-6] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/joint_state_controller_spawner-6*.log
[arm_controller_spawner-7] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/arm_controller_spawner-7*.log

I'm using Ros Indigo. Would be nice if someone could help me.

Best regard, J_Schaefer

How can I spawn a Robotiq Gripper with an UR5 in Gazebo and Rviz using Moveit! ?

Hi there,

I'm trying to create a simulation with an UR5, the Robotiq FT150 Sensor and the Robotiq 85 Gripper. Github/universal_robot, Github/robotiq

I integrated the gripper by referencing it in the ur5_robot.urdf:

  <!-- 85 -->
  <xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.xacro" />
  [...]
  <joint name="Gripper_Adapter_Fix" type="fixed">
   <parent link="fts_toolside" />
   <child link="robotiq_85_root" />
   <origin xyz="0.0 0.0 0.1" rpy="0.0 ${- pi / 2} 0.0" />
  </joint>

The model of the gripper (Github/StanleyInnovations) is not suitable for Gazebo at the moment, so I tried to fix it using transmissions:

 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:macro name="robotiq_85_gripper_transmission" params="prefix">

   <transmission name="${prefix}robotiq_85_left_knuckle_trans">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="${prefix}robotiq_85_left_knuckle_joint">
       <hardwareInterface>PositionJointInterface</hardwareInterface>
     </joint>
     <actuator name="${prefix}robotiq_85_left_knuckle_motor">
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>

 </xacro:macro>
 </robot>

But now this appears, while launching the model:

[...]
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.110.200
[INFO] [WallTime: 1448960579.834783] [0.765000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1448960579.992465659, 0.765000000]: Loading gazebo_ros_control plugin
[ INFO] [1448960579.992562338, 0.765000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1448960579.993397424, 0.765000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/spawn_gazebo_model-3*.log
[ WARN] [1448960580.154895328, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.154951108, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.155454039, 0.765000000]: Replacing previously registered handle 'shoulder_pan_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.155989982, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.156066422, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.156464493, 0.765000000]: Replacing previously registered handle 'shoulder_lift_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.156852348, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.156876036, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.157257797, 0.765000000]: Replacing previously registered handle 'elbow_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.157631933, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.157655654, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.158047017, 0.765000000]: Replacing previously registered handle 'wrist_1_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.158442487, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.158467058, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.158913378, 0.765000000]: Replacing previously registered handle 'wrist_2_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ WARN] [1448960580.159315827, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::JointStateInterface'.
[ WARN] [1448960580.159340518, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'hardware_interface::PositionJointInterface'.
[ WARN] [1448960580.159694419, 0.765000000]: Replacing previously registered handle 'wrist_3_joint' in 'joint_limits_interface::PositionJointSaturationInterface'.
[ INFO] [1448960580.178391688, 0.765000000]: Loaded gazebo_ros_control.
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
Loaded joint_state_controller
Started ['joint_state_controller'] successfully
Loaded arm_controller
Started ['arm_controller'] successfully
[joint_state_controller_spawner-6] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/joint_state_controller_spawner-6*.log
[arm_controller_spawner-7] process has finished cleanly
log file: /home/sensorik/.ros/log/03901976-97fe-11e5-aa51-f8b156bf3424/arm_controller_spawner-7*.log

I'm using Ros Indigo. Would be nice if someone could help me.

Best regard, J_Schaefer