robotiq

• Based on the jade-devel branch of robotiq, we have built our own fork with the irg-jade branch.

Meshes

• We are using the original URDF robotiq/robotiq_s_model_visualization/cfg/robotiq_hand_macro.urdf.xacro from jade-devel branch of robotiq

Gazebo simulation pipeline

• roslaunch robotiq_s_model_articulated_gazebo robotiq_gripper_empty_world.launch
• libRobotiqHandPlugin_controlMsg.so here will publish the joint states of the gripper to /left_hand/joint_states - This /left_hand/joint_states is defined here
• And then the joint_state_publisher will publish the information at /left_hand/joint_states inside the \source_list forward to /joint_states.
• Then the robot_state_publisher will use the information at /joint_states to publish the tf, so in RVIZ, you can view the robot using RobotModel.

Usage

• http://gazebosim.org/tutorials?tut=drcsim_robotiq_hand&cat=

• roslaunch robotiq_s_model_articulated_gazebo robotiq_gripper_empty_world.launch

• To close it half-way

  • If we are using the RobotiqHandPlugin plugin
    • rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,127,255,0,155,0,0,255,0,0,0,0,0}
    • all the way
      • rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,255,255,0,155,0,0,255,0,0,0,0,0}
  • If we are using the RobotiqHandPlugin_controlMsg plugin
    • rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,255,0,155,0,0,255,0,0,0,0,0,0}
    • all the way
      • rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,255,0,255,0,0,255,0,0,0,0,0,0}

• To fully open it

  • If we are using the RobotiqHandPlugin plugin
    • rostopic pub --once left_hand/command robotiq_s_model_articulated_msgs/SModelRobotOutput {1,0,1,0,0,0,0,0,0,155,0,0,0,0,0,0,0,0}
  • If we are using the RobotiqHandPlugin_controlMsg plugin
    • rostopic pub --once /left_hand/SModelRobotOutput robotiq_s_model_control/SModel_robot_output {1,0,1,0,0,0,127,0,0,0,0,0,0,0,0,0,0,0,0}

Supports for Gazebo 7 on indigo

• You have to add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") to CMakeLists.txt
• Then for the Gazebo plugin c++ files, you might have to change const to constexpr. Otherwise it won't compile.
  • rogerclarkmelbourne/Arduino_STM32#402