Tutorial: Setting up the Robotiq 2F 140 Gripper

Gripper Installation Guide

Product name: Robotiq 2F-140 adaptive gripper.

Product Reference site: https://robotiq.com/support/2f85-140-adaptive-robot-gripper

Tutorial Reference: http://wiki.ros.org/robotiq/Tutorials/Control%20of%20a%202-Finger%20Gripper%20using%20the%20Modbus%20RTU%20protocol%20%28ros%20kinetic%20and%20newer%20releases%29

Hardware Connection

Step 1 Make sure the gripper is properly secured and the jumpers are correctly installed.

Step 2 Connect the USB cable to your laptop

Step 3 Plug in the power supply (24V, 2A)

At this point, you should see the red LED on the gripper steadily on.

Software Installation

Step 1 Driver Installation

Install the following dependencies: Modbus:

sudo pip install pymodbus

EtherCAT soem library

sudo apt-get install ros-kinetic-soem

Clone the olinrobotics/robotiq_2finger_grippers and catkin_make.

cd ~/catkin_ws/src/
git clone https://github.com/olinrobotics/robotiq_2finger_grippers.git
cd ..
catkin_make

Step 2 Configure Serial Port

First, run the command below to give you control over the serial port:

sudo usermod -a -G dialout YOURUSERNAME

Now you can run the following command to find out which port the controller is connected:

dmesg | grep tty

The output should look something similar to:

[####.#####] USB 1-2: FTDI USB Serial Device converter now attached to ttyUSB0

Before moving on to Step 3, make sure the gripper is properly connected!!!

Step 3 Run driver node

This will recursively command the real gripper with different poses/speeds while updating the gripper joints on rviz. ttyUSB0 is the default device ID, but you should check it using Step 2.

roslaunch robotiq_2f_gripper_control test_140mm_gripper.launch comport:=/dev/ttyUSB0

More documentation: olinrobotics/robotiq_2finger_grippers

Congrats! You've just finished configuring the Robotiq 2F-140 gripper. If you want to control the Xamyab robot together with the gripper using MoveIt!, check out the MoveIt! for Xamyab tutorial. It's super easy to control the gripper with MoveIt! You can also refer to the XamyabRobot.py to learn how to open and close the gripper using a python script.