- Uninstall Gazebo2 with
sudo apt-get purge gazebo*
- Install Gazebo7 using instructions at http://gazebosim.org/tutorials?tut=install_ubuntu&ver=7.0
As well as the Gazebo ROS packages
sudo apt-get install ros-indigo-gazebo7-ros-pkgs
-
Download the robotiq package from https://github.com/ros-industrial/robotiq
-
Copy the robotiq folder from this repository to the robotiq folder in your workspace (replace all files).
-
Build all the files using catkin_make in your workspace
-
To open gazebo with gripper, run
roslaunch robotiq_s_model_articulated_gazebo robotiq.launch
- robotiq_pub.py publishes commands to the topic '/left_hand/command'
Enter positions for A, B, C, and S to command gripper