prbt_gripper

Package: prbt_grippers

The meta package contains support for using the PILZ manipulator PRBT robot with a gripper.

Package: prbt_pg70_support

The package enables the usage of the PILZ manipulator PRBT with a Schunk pg+70 gripper.

Usage

If the package is installed, simply append gripper:=pg70 to your roslaunch command like this: roslaunch prbt_moveit_config moveit_planning_execution.launch sim:=true pipeline:=ompl gripper:=pg70

Basically this packages plugs the necessary parameters into the existing launchfiles from prbt_moveit_config to start the manipulator with an attached gripper. If you want to add another gripper it is recommended to follow the naming convention by naming your package prbt_[gripper_name]_support.

Technical limitation

The gripper package is separated from the robot description to allow an installation without all the dependencies of the gripper packages (e.g. schunk_description currently depends on gazebo).