Gripper3F Robot interface for controlling the robotic gripper with ROS
This repo allows you to control easily the Gripper3F from your computer with ROS, sending commands (open, close) and changing gripping modes. Also, is possible to set up the force, speed, and the precise position to go.
It's designed to work also with the UR10 robot interface
- Robotics
- Gripper
- ROS
- rospy and numpy
- https://github.com/ros-industrial/robotiq build in your system with catkin
- https://github.com/Nishida-Lab/robotiq_3f_ros_pkg build in your system with catkin
- install the Requirements & Dependencies
- clone this repo in your project
- remember to source the setup.bash of catkin
- run the gripper node
- use the interface as in the "Code" section
Example:
# on the external pc
# FOR THE GRIPPER
# source the knowledge for ROS
source /home/ur-colors/UR10_dockerized/catkin_ws/devel/setup.bash
# activate your env to have your pkgs installed
conda activate ur10_py3.9
# launch the node for the gripper, it moves to calibrate
roslaunch robotiq_3f_driver listener.launch ip_address:=192.168.0.11from gripper3f_interface import Gripper
import rospy
rospy.init_node("gripper")
rospy.sleep(1.0)
gripper = Gripper()
gripper.activate_gripper()
gripper.close_gripper()- Igor Lirussi @ BOUN Boğaziçi University - CoLoRs (Cognitive Learning and Robotics) Lab
- All the people that contributed with suggestions and tips.
This project is licensed - see the LICENSE file for details.