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Questions tagged [gripper]

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How to configure the joints added for the vacuum_gripper plugin?

I am following this https://answers.ros.org/question/243080/need-help-to-trigger-the-vacuum-gripper/ to implement a vacuum gripper for my custom robot. I found out that I need to add other links to my ...
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Gripper Error When Trying to Lift A Material

I am trying to lift a cylinder with a very simple gripper but when the gripper closes, the cylinder goes through the gripper. The gray cylinder cannot be lifted by the yellow finger. So I cannot lift ...
EngineerandDeveloper's user avatar
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2 answers
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Gripper penetrates object in Gazebo,why?

I used ros-melodic and gazebo version 11.13.0. I used this gripper plugin enter link description here When the clamping jaw is closed, the terminal prompts that the object has been grasped, but the ...
user37760's user avatar
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Control RG6 Gripper mounted on UR5 robot arm

I want to control the OnRobot RG6 gripper mounted to a UR5 robot arm via ROS noetic. But I am having a problem connecting my PC to the robot with RG6 through Ethernet. UR5 without RG6 was running fine ...
Bình's user avatar
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Basic example project of a gripper holding an object in Gazebo

I am searching for a working example of a gripper that can hold an object in Gazebo / Gazebo Classic. The example should ideally: use a 1-DOF gripper with two fingers where one is mimicked use Python ...
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1 answer
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Which controller from `ros2_control` is appropriate for firmly grabbing a box with a 1-DOF gripper in Gazebo Classic?

I want my robot arm (Turtlebot3 with OpenManipulator-X) to firmly grab a box, however the gripper does a sudden close movement and the box flies away. Is a firm closing movement possible with ...
geko's user avatar
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use the onrobot rg2 gripper simultaneously with ur5 robot over tcp communication

we have a ur5 robot equipped with a onrobot rg2 gripper both which are connected to a common router. The ip of the robot is 192.168.0.100 and I interface with the robot on the ip 192.168.0.101 through ...
Aggerio6969's user avatar
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2 answers
289 views

ROS2 Gazebo vacuum_gripper doesn't grip

I am trying to add a vacuum gripper to my ROS2/Gazebo/Python project. I have the following: grip.xacro (note the plugin for gripper): ...
Steve Brown's user avatar
2 votes
1 answer
116 views

Gazebo vacuum_gripper setup

I am trying to add a vacuum gripper to my ROS2/Gazebo/Python project. I have the following: grip.xacro (note the plugin for gripper): ...
Steve Brown's user avatar
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1 answer
51 views

How to add gripper to robot arm and plan according to the end effector on Moveit

Hello! I am simulating for a university project, the Elfin 5 robot arm which package can be found here along with a gripper which package is found here. Being new to Moveit, I am finding trouble to ...
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Gazebo vacuum gripper not rotating gripped model

Hello all! I'm using the vacuum gripper plug in with the ur5 robot in a similar way to this. Although I can grip the part and move it around with no problems, I can't rotate it If I rotate just the ...
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proper guide to adding a gripper to my robot in rviz2 and moveit2

im currently running ros2 on foxy and using this driver for the UR10e https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/ which works perfectly fine, but now im trying to add a gripper to ...
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1 answer
9 views

moveit pick failed with controller running

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7. My repository is at https://github.com/yiyinglai/FetchIt. I was doing ...
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1 answer
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Missing joint_state_publisher_gui when l run display.launch

I created a new urdf from original universal-robot package and a 2 finger robotiq gripper (from stl). URDF seems to be ok when i use the check_urdf command but when ...
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1 answer
17 views

MoveIt detect collision for disabled links in SRDF

Hello, I’m new to this community so if I’ve made some mistakes please let me know. My problem description is as follows: I created a new arm+sensor+gripper URDF and used the MoveIt Setup Assistant to ...
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1 answer
14 views

Control PR2 gripper in moveit grasp pipeline

Hi, The gripper of the PR2 robot can be controlled with an action client in wich you specify the gripper openning size and the controller handles all the complicated joint control. But in the moveit ...
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1 answer
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How to overwrite the default finger pad links of the Robotiq 2F-85 gripper without editing the original URDF file?

Hello, I am new here, I made a custom URDF file where I included the URDF macros of the UR5 robot and the Robotiq 2F-85 gripper. The Robotiq 2F-85 URDF describes by default the inner finger pads. ...
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1 answer
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how to create MoveIt package for robot arm with gripper?

I am trying to create moveit package for robot arm with gripper but it allows only to add one urdf (I have one urdf for the arm one urdf for the gripper)? am working on UR5 arm and using ...
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0 votes
1 answer
20 views

Usage of joint_state_publisher

Hi everyone, I am working with a new UR10e robot and a 2F-140 Robotiq Gripper. And the new models of UR robot comes with a set of script functions to control the gripper. The thing is that working ...
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1 answer
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Grasp() detaches parts of my gripper from the rest everytime its called

Hallo guys, I am trying to get a pick/place with an ABB_irb2600 to work and ran into a problem: Every time the Grasp() happens the finger of my gripper (Added by myself into the ABBs urdf, see below) ...
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1 answer
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Cannot move Robotiq 2F-140 in ROS

I have a robot configuration with an UR10 robot and a Robotiq 2F-140 gripper in ROS and Gazebo and when I try to control the gripper to open or close it, it does not work. I am a new ROS user and ...
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0 votes
1 answer
19 views

confusion about time_from_start in trajectory_msgs/joint_trajectory

Hello, I’m trying to demonstrate pick and place in gazebo by using moveit to plan trajectory. Here is the code which i’m using, this is code is very much inline with moveit pick-n-place tutorials. I’m ...
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1 answer
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Incorrect gripper joint visualisation for Franka Panda

Hi, I am using the Moveit Setup assistant to generate the inertial tags and manually adding the transmission tags to get a URDF for the Franka Panda to be used in ROS Sharp. ROS Sharp like gazebo ...
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1 answer
18 views

Arm does not appear when using xacro to attach UR5 to Robotiq Gripper

I am trying to attach a Robotiq 2f gripper to a UR5 arm, but cannot get the two components to properly connect to one another. Following the tutorial here, I created the xacro file below, but only the ...
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1 answer
7 views

Pick and place execution in Simulation_"Solution found but controller failed during execution"

Hi, I am trying to execute pick and place task using jaco arm in simulation.I am able to successfully send Pickup goals to moveit pick action server.In the Rviz GUI i am able to see the pickup actions ...
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1 answer
17 views

Gripper control via ABB IRC5 controller (and IRB 120 robot): drivers?

I am working with an ABB IRB 120 robot controlled by an IRC5 compact controller. I was able to correctly install the ABB drivers and to move the robot using the provided ROS packages, via the Ethernet ...
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1 answer
29 views

Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Hi, I'm working on a simulation combining the UR5 arm and a robotiq 2-finger gripper together. The arm shows up completely in gazebo, but the base of the gripper does not show up despite added ...
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1 answer
5 views

UR5 - Robot model does not have a Gripper

If anybody could help, I am new to ROS and we are modeling a Universal Robot 5 from the ROS package supplied however the model does not have the gripper which we have installed in real life. How do I ...
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0 votes
1 answer
11 views

Convert commands from prismatic joint to revolute for FollowJointTrajectory controller, robot arm gripper

I have a robotic arm (Cyton Gamma 300) with a 2-finger gripper, one joint mimics another (see the picture below). My goal is to control and execute trajectories on the gripper using MoveIt. The ...
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1 answer
6 views

A manipulator with gripper for simulation

I am experimenting with high level manipulation tasks and wish to see the results in simulation. I would like to use Moveit for motion planning and observe the simulated results in Gazebo. I need some ...
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0 votes
1 answer
3 views

Subscribing action server message

Hey, I am trying to simulate the Kinova Mico arm in a Gazebo simulation. I have everything working, executing paths calculated in Moveit. The only thing I have yet to simulate is the gripper. I am ...
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2 answers
2 views

Help Building Custom BAXTER grippers

I need help figuring out these two errors. They are both related, so solving one should solve the other. I'm building custom grippers for Baxter in Ros-Indigo (ubuntu 1404.2). I've built a custom URDF ...
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0 votes
1 answer
20 views

Error with gripper action server client connection

I am trying to control the gripper of a 6 DOF arm(dynamixel based). The gripper is a 2 finger gripper controlled by a single dynamixel servo. I have generated the moveit config file using moveit setup ...
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1 answer
4 views

What ever happened to the velo 2g gripper?

Back in 2013 Willow Garage designed and potentially distributed a fantastic gripper called the velo 2g. From the video it looks like it was perfect for gripping household objects. I am looking for a ...
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2 answers
14 views

Turtlebot arm on Gazebo: lets fall all grasped objects

Hi all, I have managed to fully simulate the turtlebot arm on Gazebo (ROS indigo + Gazebo 2.2.3), but when I try to run the block manipulation demo, the robot can grasp the blocks but then let them ...
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1 answer
4 views

Moveit: Link collides with itself

Upon spawning the robotiq gripper palm found here https://github.com/ros-industrial/robotiq/blob/groovy-devel/robotiq_s_model_visualization/cfg/s-model_articulated_macro.xacro Even after removing the ...
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0 votes
1 answer
42 views

How to plan moves with gripper attached to arm?

Hello, I've successfully planned and executed various motions using our UR5 robot arm without any tools. Now I want to attach a custom-made gripper to the arm, but I don't know what to do to make ROS/...
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0 votes
1 answer
2 views

PR2 + Hydro - Easiest way to close a gripper?

Hi all, After interacting with some objects on a table, the grasp of the PR2 opens. I need to close it after each iteration, to be able to compare the changes in the scene before and after the ...
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0 votes
1 answer
12 views

Controlling two joints simultaneously

Hello, I am using the Kuka Youbot arm (http://www.youbot-store.com/youbot-store/youbots/youbots/kuka-youbot-5-degree-of-freedom-arm-with-2-finger-gripper). When running the youbot_driver, several ...
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0 votes
1 answer
26 views

How to solve 'undefined reference to symbol 'vtable for boost::detail::thread_data_base'?

follow:Moving the gripper ...
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0 votes
1 answer
2 views

Base for grippers?

Hi there, i'm currently developing a driver for a gripper. Or let's say.. I'm starting to develop... ;) Anyway i was looking for a existing driver and found the WubbleGripper and PR2_gripper_action. I'...
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0 votes
1 answer
2 views

allow gripper collision on the PR-2

I want to allow the PR-2 gripper to collide with objects on a table. I am designing linear pushing motions. I am using motion_planning_msgs/CollisionOperation message in the MoveArmGoal message, but ...
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