UR Gripper Control

Owner: Thomas Duvinage Tags: documentation

Control the gripper

Actions

ROS Action has been used to send request to the gripper.

Usage :

Run the action server :

rosrun robotiq_2f_gripper_control gripper_action_server.py

On an other terminal, run the client to send the request :

rosrun robotiq_2f_gripper_control gripper_action_client _goal_position:=200

The _goal_position value can be set from 0 to 255.

ROS Message

Connected the robot to the computer.

Run :

roslaunch robotiq_2f_gripper_control robotiq_2f_gripper_control.launch

You can edit the robot_ip and port use for the gripper.

In another terminal run the following command to publish a message to control the robot :

rostopic pub /gripperCmd std_msg/Int16 "data: 120"

The value can be set from 0 to 255.