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About

The robotiq_85_gripper_actions package contains ROS actionlib implementations of common gripper actions including executing a control_msgs gripper command, closing or opening the gripper until contact is made, and verifying whether the gripper is holding something.

Nodes

gripper_actions

Action server implementations of common gripper actions.

Action Goal

gripper_command/goal (control_msgs/GripperCommandGoal)

• Execute a control_msgs gripper command.

gripper_manipulation/goal (rail_manipulation_msgs/GripperGoal)

• Fully close or open the gripper until sufficient contact is made.

verify_grasp/goal (rail_manipulation_msgs/VerifyGraspGoal)

• Request verification of whether or not the gripper is holding something.

Action Result

gripper_command/result (control_msgs/GripperCommandResult)

• Result of a control_msgs gripper command.

gripper_manipulation/result (rail_manipulation_msgs/GripperResult)

• Result of fully closing or opening the gripper.

verify_grasp/result (rail_manipulation_msgs/VerifyGraspResult)

• Confirmation of whether or not the gripper is holding something.

Action Feedback

gripper_command/feedback (control_msgs/GripperCommandFeedback)

• Feedback for a control_msgs gripper command.

gripper_manipulation/feedback (rail_manipulation_msgs/GripperFeedback)

• Feedback while the gripper is fully opening or closing.

verify_grasp/feedback (rail_manipulation_msgs/VerifyGraspFeedback)

• Unused.

Subscribed Topics

/gripper/stat (robotiq_85_msgs/GripperStat)

• Gripper status information. The topic name can be changed by setting the gripper_status_topic parameter.

Published Topics

/gripper/cmd (robotiq_85_msgs/GripperCmd)

• Send commands to the gripper. The topic name can be changed by setting the gripper_command_topic parameter.

Parameters

gripper_command_topic (string, default: "/gripper/cmd")

• Set the topic for publishing commands to the gripper.

gripper_status_topic (string, default: "/gripper/stat")

• Set the topic for reading the current gripper status.

Installation

To install the robotiq_85_gripper_actions package, follow the steps below:

1. robotiq_85_gripper_actions assumes you are using Stanley Innovation's robotiq_85_gripper package to run the arm. If you do not already have the package installed, you can get it from the Stanley Innovation github repository:

      1 cd /(your catkin workspace)/src
      2 git clone https://github.com/StanleyInnovation/robotiq_85_gripper.git
   

2. Install robotiq_85_gripper_actions from source with the following commands:

      1 cd /(your catkin workspace)/src
      2 git clone https://github.com/GT-RAIL/remote_manipulation_markers.git
      3 cd ..
      4 catkin_make
      5 catkin_make install
   

Startup

This package contains a single ros node. Run it with the following, adding any parameters as necessary:

• rosrun robotiq_85_gripper_actions gripper_actions