Robotiq2FGripperRtuNode.py
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1 #!/usr/bin/env python
2 
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36 # Revision $Id$
37 
38 """@package docstring
39 ROS node for controling a Robotiq 2F gripper using the Modbus RTU protocol.
40 
41 The script takes as an argument the IP address of the gripper. It initializes a baseRobotiq2FGripper object and adds a comModbusTcp client to it. It then loops forever, reading the gripper status and updating its command. The gripper status is published on the 'Robotiq2FGripperRobotInput' topic using the 'Robotiq2FGripper_robot_input' msg type. The node subscribes to the 'Robotiq2FGripperRobotOutput' topic for new commands using the 'Robotiq2FGripper_robot_output' msg type. Examples are provided to control the gripper (Robotiq2FGripperSimpleController.py) and interpreting its status (Robotiq2FGripperStatusListener.py).
42 """
43 
44 import roslib; roslib.load_manifest('robotiq_2f_gripper_control')
45 roslib.load_manifest('robotiq_modbus_rtu')
46 import rospy
48 import robotiq_modbus_rtu.comModbusRtu
49 import os, sys
50 from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_input as inputMsg
51 from robotiq_2f_gripper_control.msg import _Robotiq2FGripper_robot_output as outputMsg
52 
53 def mainLoop(device):
54 
55  #Gripper is a 2F with a TCP connection
57  gripper.client = robotiq_modbus_rtu.comModbusRtu.communication()
58 
59  #We connect to the address received as an argument
60  gripper.client.connectToDevice(device)
61 
62  rospy.init_node('robotiq2FGripper')
63 
64  #The Gripper status is published on the topic named 'Robotiq2FGripperRobotInput'
65  pub = rospy.Publisher('Robotiq2FGripperRobotInput', inputMsg.Robotiq2FGripper_robot_input)
66 
67  #The Gripper command is received from the topic named 'Robotiq2FGripperRobotOutput'
68  rospy.Subscriber('Robotiq2FGripperRobotOutput', outputMsg.Robotiq2FGripper_robot_output, gripper.refreshCommand)
69 
70 
71  #We loop
72  while not rospy.is_shutdown():
73 
74  #Get and publish the Gripper status
75  status = gripper.getStatus()
76  pub.publish(status)
77 
78  #Wait a little
79  #rospy.sleep(0.05)
80 
81  #Send the most recent command
82  gripper.sendCommand()
83 
84  #Wait a little
85  #rospy.sleep(0.05)
86 
87 if __name__ == '__main__':
88  try:
89  mainLoop(sys.argv[1])
90  except rospy.ROSInterruptException: pass


robotiq_2f_gripper_control
Author(s): Nicolas Lauzier (Robotiq inc.)
autogenerated on Tue Jun 1 2021 02:29:54