Control 2f gripper in RVIZ/Gazebo simulation

[YueqiYu]

Hi, I'm able to install the robotiq 2f 140 gripper to ur5 model and do path planning or move ur5 robot in gazebo/ rviz, but don't know how to control this gripper to close and open, is there a specific code example? Thank you so much!

[GDUTwd]

hi,I've been combining gripper with ur5 recently，but i get some trouble ,The gripper is shaking all the time，would you like to tell me the steps to combine gripper and ur successfully? thank you so much!

[ysl208]

Hi, i tried the robotiq_2f_gripper_action_server on my real UR5 robot, but it doesn't seem to work.

It gives me a warning gripper could not accept goal because the gripper is not yet active, but I don't know how to activate it, it seems that I need to publish something in the /input topic

[L-eonor]

You can control it by using a SimpleActionClient (http://wiki.ros.org/actionlib_tutorials). It works as following: http://wiki.ros.org/actionlib#Client-Server_Interaction

For that, you'll need to:

• add the gripper controller to the .yaml file as following:
  # Gripper controller gripper_controller: type: effort_controllers/GripperActionController gains: finger_joint: {p: 10, d: 0.1, i: 1, i_clamp: 1} joint: finger_joint #important to call it joinT in the singular! action_monitor_rate: 20 goal_tolerance: 0.002 max_effort: 100 stall_velocity_threshold: 0.001 stall_timeout: 1.0

• the type must be a effort_controller or a position_controller, according to the interface interface specified in the transmission [file] (

  robotiq/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_transmission.xacro

  Line 7 in 66961ec

  <hardwareInterface>PositionJointInterface</hardwareInterface>

  )

• Send goal commands according to the message format GripperCommandGoal

Note: if grasping an object and commanding the gripper to fully close, the position won't be reached (gripper doesn't close fully because of the object). As consequence, won't be a result message returned from server.