This repo provides the core functionality of robotiq gripper based on the repo

Build Instructions

From the root of your ROS 2 workspace, build the required package:

colcon build  --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

To enable better C++ indexing and autocompletion in editors such as VS Code, create a symbolic link to the generated compile_commands.json

ln -sf build/object_pose_perception/compile_commands.json compile_commands.json
"compileCommands": "${workspaceFolder}/../compile_commands.json",

Use the following command to start the UR robot driver with the UR5e, Robotiq gripper, and custom robot description launch file:

ros2 launch ur_robot_driver ur_control.launch.py   ur_type:=ur5e   robot_ip:=192.168.0.100     kinematics_params_file:="${HOME}/my_robot_calibration.yaml" launch_rviz:=false   description_launchfile:=$(ros2 pkg prefix robotiq_description)/share/robotiq_description/launch/view_ur5e_gripper_camera.launch.py controllers_file:=$(ros2 pkg prefix ur_robotiq_compatibility)/share/ur_robotiq_compatibility/configs/ur5e_robotiq_controller.yaml

Start the MoveIt configuration for the UR5e with the Robotiq 85 gripper:

ros2 launch ur_robotiq_compatibility ur_moveit_with_robotiq85.launch.py ur_type:="ur5e" launch_rviz:=false

Start the RealSense RGB-D camera with aligned depth and synchronized streams:

ros2 launch realsense2_camera rs_launch.py enable_rgbd:=true enable_sync:=true align_depth.enable:=true enable_color:=true enable_depth:=true  rgb_camera.color_profile:=1280x720x30 depth_module.depth_profile:=1280x720x30

After launching the robot driver, spawn the Robotiq gripper controller:

ros2 run controller_manager spawner robotiq_gripper_controller   --controller-manager /controller_manager

Start the publisher of extrinsic calibration of camera TF and the TF oArUco marker pose estimation node:

ros2 launch camera_ur_integration aruco_marker_pose_estimation.launch.py

Run the object pose resolver action server node with its configuration file:

ros2 run object_pose_perception object_pose_resolver_node \
  --ros-args \
  --params-file /home/mostafa/workspaces/common/robotiq_gripper_ws/src/object_pose_perception/configs/object_pose_resolver.yaml

add the table file to rviz:

ros2 run ur5e_motion_planning table_dae_marker_node

Launch the UR5e MoveIt planning setup with camera integration:

ros2 launch ur5e_motion_planning camera_ur5e_moveit.launch.py ur_type:=ur5e

To command the Robotiq gripper using the ROS 2 action interface:

ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {name: ['robotiq_85_left_knuckle_joint'], position: [0.07929], velocity: [0.1], effort: [50.0]}}"

ros2 launch camera_ur_integration camera_ur_integration.launch.py

ros2 launch ur5e_motion_planning camera_ur5e_moveit.launch.py ur_type:=ur5e

ros2 launch robotiq_description robotiq_control.launch.py hardware_protocol:=tcp socket_host:=192.168.0.100 socket_port:=63352