<> == Overview == This stack can be used to control Robotiq [[https://robotiq.com/products/adaptive-grippers| 2-Finger Adaptive Robot Grippers]], [[https://robotiq.com/products/3-finger-adaptive-robot-gripper| 3-Finger Adaptive Robot Gripper]] and [[https://robotiq.com/products/3-finger-adaptive-robot-gripper| Force Torque Sensor]]. Only grippers configured with the Modbus TCP or Modbus RTU protocol can be controlled using the stack. Robotiq [[https://robotiq.com/products/wrist-camera| Wrist Camera]] is currently not supported. == Installation == The Robotiq package is only available from source. It can be cloned using the following command: {{{ git clone https://github.com/ros-industrial/robotiq.git }}} Once cloned, checkout the branch for your specific ROS version (e.g. kinetic-devel) The robotiq package has the following library dependencies: * Modbus TCP: {{{ rosdep install robotiq_modbus_tcp}}} {{{{#!wiki version hydro * The EtherCAT soem library is also required to build the Robotiq package. It must also be cloned into the same workspace as the Robotiq package {{{ git clone https://github.com/ros-industrial/ethercat-soem.git}}} }}}} {{{{#!wiki version indigo * The EtherCAT soem library is also required to build the Robotiq package. It can be downloaded from debs by {{{ sudo apt-get install ros-indigo-soem}}} }}}} {{{{#!wiki version kinetic * The EtherCAT soem library is also required to build the Robotiq package. It can be downloaded from debs by {{{ sudo apt-get install ros-kinetic-soem}}} }}}} Note that Robotiq devices that use the USB serial port will appear as /dev/ttyUSBn devices in your system (where "n" is a number that depends on the number of USB devices that are plugged in the computer) and require read and write permissions to work properly. One way to permanently ensure you have such permissions is simply to add your user to the dialout group once: {{{ sudo usermod -a -G dialout $USER }}} == Tutorials == See the [[robotiq/Tutorials|Tutorials]] page for an overview of the available tutorials. == Report a Bug == <> ## AUTOGENERATED DON'T DELETE ## CategoryStack