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

##Demonstration with real robot

Configure the supervisor configuration file

Note: The following instructions are to be used as a template. Don't simply copy-paste stuff in the configuration file and expect it to work. Read carefuly and adjust according to your environment

To simplify your life, we included a script (util/supervisor.sh) that can be run from supervisor. This script takes care to set up the environment variables so that the running of the commands is smoother. Pay extra attention to the line that specifies the ROS_MASTER_URI environment variable and adjust it to your needs.

Open supervisor's configuration file (/etc/supervisor/supervisord.conf) with your favorite editor (don't forget to sudo) and add the following lines at the bottom:

[program:schunk_pg70]
command=/bin/bash /home/<USER>/<ROS_WORKSPACE>/src/schunk_pg70/util/supervisor.sh
user=<USER>
autorestart=true
startretries=100
stdout_logfile=</path/to/log/file.log>
stderr_logfile=</path/to/errorlog/file.log>

Replace <USER> with the name of your user.

Run supervisor:

$ supervisor