vp6242_robotiq85_ros

ROS package for Denso VP6242 coupled with Robotiq 85 Gripper.

How to install

In your workspace/src folder, clone dependency packages robotiq_85_gripper and vp6242_ros.

cd ~/catkin_ws/src
git clone https://github.com/bglima/robotiq_85_gripper
git clone https://github.com/bglima/VP6242_ROS.git

Then, install MoveIT core and ROS effort-controller dependencies:

sudo apt-get install ros-$ROS_DISTRO-moveit
sudo apt-get install ros-$ROS_DISTRO-effort-controllers

Then clone this repo and build workspace.

git clone https://github.com/bglima/vp6242_robotiq85_ros.git
cd ~/catkin_ws
catkin_make

How to run RViz

RViz visualization:

roslaunch vp6242_robotiq85_description vp6242gripper.launch

By default, joint_state_publisher node starts with use_gui parameter as true, in order to use GUI sliders. Alternatively, you may desire to control visualization by topic publishing, using:

roslaunch vp6242_robotiq85_description vp6242gripper.launch gui:=false

You can set joint positions by sending a message to ik_joint_states topic, as following example:

rostopic pub /ik_joint_states  sensor_msgs/JointState '{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ""},
  name: ["joint1", "joint2", "gripper_finger1_joint"],
  position: [1.57, 0.5, 1.0]}'

Running Gazebo physical simulation

If you want to run Gazebo world instead:

roslaunch vp6242_robotiq85_gazebo vp6242_robotiq_85.launch

In order to control Gazebo arm model, use JointTrajectory. You can change more than one joint at once. Following example shows how to change joints 1, 2, 3 and 5:

rostopic pub /vp6242/trajectory_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names: ['joint1', 'joint2', 'joint3', 'joint5']
points:
- positions: [0, 0, 1.57, 0]   
  velocities: [0, 0, 0, 0]
  accelerations: [0, 0, 0, 0]
  effort: [0, 0, 0, 0]
  time_from_start: {secs: 1, nsecs: 0}"

Lastly, you can command gripper to open or close. Position 0.8 means fully closed, while position 0.0 means fully opened. Command example:

rostopic pub vp6242/gripper_position_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'gripper_finger1_joint'
points:
- positions: [0.80]
  velocities: [0]
  accelerations: [0]
  effort: [0]
  time_from_start: {secs: 1, nsecs: 0}"

References

Joint State Publisher wiki

Why to use a joint_state_publisher?

Joint Trajectory Controller