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
Released RELEASED

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

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
Released RELEASED

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