schunk_grippers repository

Repository Summary

Checkout URI https://github.com/SmartRoboticSystems/schunk_grippers.git
VCS Type git
VCS Version master
Last Updated 2015-09-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
schunk_ezn64 1.3.7
schunk_grippers 1.3.7
schunk_pg70 1.3.7

README

schunk_grippers

PG70 and EZN64 Xacro models and drivers for serial communication (RS232, USB). See Wiki page for more details

PG70 package

  • uses ROS serial library package to interface pg70 controller over serial port
  • provides ROS services for basic gripper control (get_position, set_position, reference, get_error, acknowledge_error, stop)
  • allows user to set goal position with velocity and acceleration
  • includes Xacro model for easier integration with various robots
  • automatically reads and broadcasts actual gripper position to tf

EZN64 package

  • uses libusb1-0 library to interface ezn64 controller over USB port
  • provides ROS services for basic gripper control (get_position, set_position, reference, get_error, acknowledge_error, stop)
  • allows user to set only goal position, velocity and acceleration setpoints are not supported within current version
  • includes Xacro model for easier integration with various robots
  • automatically reads and broadcasts actual gripper position to tf

Demonstration RVIZ

Schunk grippers + Motoman SDA10F in simulation

Schunk grippers + Motoman SDA10F

Demonstration with real robot

Schunk grippers + Motoman SDA10F

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/SmartRoboticSystems/schunk_grippers.git
VCS Type git
VCS Version master
Last Updated 2015-09-24
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
schunk_ezn64 1.3.7
schunk_grippers 1.3.7
schunk_pg70 1.3.7

README

schunk_grippers

PG70 and EZN64 Xacro models and drivers for serial communication (RS232, USB). See Wiki page for more details

PG70 package

  • uses ROS serial library package to interface pg70 controller over serial port
  • provides ROS services for basic gripper control (get_position, set_position, reference, get_error, acknowledge_error, stop)
  • allows user to set goal position with velocity and acceleration
  • includes Xacro model for easier integration with various robots
  • automatically reads and broadcasts actual gripper position to tf

EZN64 package

  • uses libusb1-0 library to interface ezn64 controller over USB port
  • provides ROS services for basic gripper control (get_position, set_position, reference, get_error, acknowledge_error, stop)
  • allows user to set only goal position, velocity and acceleration setpoints are not supported within current version
  • includes Xacro model for easier integration with various robots
  • automatically reads and broadcasts actual gripper position to tf

Demonstration RVIZ

Schunk grippers + Motoman SDA10F in simulation

Schunk grippers + Motoman SDA10F

Demonstration with real robot

Schunk grippers + Motoman SDA10F

CONTRIBUTING

No CONTRIBUTING.md found.