RG2 gripper usage with URe series

[janisa9]

I am curios if this package is working with URe series real robot. Could you provide guidelines how to run RG2 gripper using your package?

[wfarlessyost]

Thank you for your question. Yes, this should work with a physical URe series robot. Running RG2Grip.py (rosrun UR3e_RG2_ER5_gripper_control RG2Grip) will start a node that receives gripper width values (0-110), which can be passed over/gripper_controller/command topic, and uses these as input to an RG2 hardware script, which it publishes to /ur_hardware_interface/script_command.

We are currently working on a new gripper controller based on follow joint trajectory, but because of our current circumstances we have not been able to test on the physical UR3e robot.

[janisa9]

Thank you! After some playing with the script I did manage to use gripper with real UR5e. Is there also implemented feedback from gripper?

In any case I have access to physical robot now and RG2 gripper, if you need I can test the controller.

[StefanNa]

I have a working moveit environment for my UR3e with the RG2 gripper and only want to add the gripper control.
After adding your files to my workspace I can run rosrun UR3e_RG2_ER5_gripper_control RG2Grip and publish with rostopic pub /gripper_controller/command std_msgs/Float64 20 but nothing happens.
What am I missing?
@janisa9 maybe you can let me know how you edited the script?

[dcross23]

Thank you! After some playing with the script I did manage to use gripper with real UR5e. Is there also implemented feedback from gripper?

In any case I have access to physical robot now and RG2 gripper, if you need I can test the controller.

@janisa9 Can you explain to me how can i run it on a real robot? I have UR3e and RG2 gripper, but im not getting how to run it in a real robot