onrobot Soft Gripper ROS Package

This package is written based on package from Assistant Prof. takuya-ki. I worked on UR5 Robot with onrobot-sg gripper and I want use ROS to control it but ROS package for onrobot-sg is nowhere to be found on the internet. So, I decided to wrote one and share it. [for mom!]

Note

This package is written to work on ROS Melodic (Python 2.7). But with some modification, It could work with modern ROS as well (Noetic Python 3, or ROS 2).

Requirement

python package : pymodbus

sudo pip install pymodbus==2.5.3

and make sure it is working properly by import it to python terminal import pymodbus

Installation

mkdir -p ws_gripper/src
cd ws_gripper/src
git clone 
cd ..
catkin_make

Then source the workspace

source ~/ws_gripper/devel/setup.bash

Usage

Bring up the gripper

roslaunch onrobot_sg bringup_gripper.launch

Control the gripper via rosservice, where desired width is between 110mm and 800 mm

rosservice call /gripper_cmd "cmd_wd: desired_width"

Control via client service

rosrun onrobot_sg cmd_client.py desired_width

Reference

• https://github.com/Osaka-University-Harada-Laboratory/onrobot
• https://github.com/takuya-ki/onrobot-vg
• https://github.com/takuya-ki/onrobot-rg