Examples with ready to use end-effectors
In this section, there are guidelines on how to run some examples with tested end-effectors.
In the ROS End-Effector packages, there are some simple geometrical grippers created only for showing purposes:
test_ee
two_finger
two_finger_mimic
To try examples with these grippers, you need to run UniversalFindActions and UniversalROSEndEffector nodes as described in How to use ROS End-Effector with your End-Effector section. We report here the necessary commands:
#substitute test_ee accordigly
roslaunch end_effector findActions.launch hand_name:=test_ee #for the offline phase
roslaunch end_effector rosee_startup.launch hand_name:=test_ee #for the online phase
We have also tested the framework with real end-effectors’ model. To test them, you need the meshes, so you need to install their specific packages. See below the instructions on how to download them.
Until now, the tested end-effectors are:
Note
The already present configuration files for ROSEE point to urdf and srdf models inside ROSEE folders. So after downloading the package for one of these hands, please also add urdf and srdf model into config/urdf and config/srdf respectively
HERI II
This hand is a prototype developed at IIT. It is a modular end-effector where each finger is driven by a tendon linked to an actuator. You need to download the model to use it:
mkdir -p ~/iit_heri_ii_hand_description/src
cd ~/iit_heri_ii_hand_description/src
git clone https://github.com/ADVRHumanoids/iit_heri_ii_hand_description
cd ..
catkin_make
source devel/setup.bash
Then you can run ROS End-Effector:
roslaunch end_effector findActions.launch hand_name:=heri_II #offline phase
roslaunch end_effector rosee_startup.launch hand_name:=heri_II #online phase
Remember to add gazebo:=true to the second command if you want to launch the dynamic simulation with gazebo.
Schunk SVH 5-finger hand
This is a complex human-like end-effector with lot of actuted joints and DOFs. More details about it can be found in Schunk website.
Some packages are necessary to run ROS End-Effector with this gripper. Follow the instructions to download and compile them:
mkdir ~/schunk_ws
mkdir ~/schunk_ws/src
cd ~/schunk_ws/src
git clone https://github.com/fzi-forschungszentrum-informatik/fzi_icl_core.git #schunk library, I am not sure if needed for only the simulation
git clone https://github.com/fzi-forschungszentrum-informatik/fzi_icl_comm.git #schunk library, I am not sure if needed for only the simulation
git clone https://github.com/fzi-forschungszentrum-informatik/schunk_svh_driver.git #the main schunk repo
cd ..
catkin_make_isolated
source devel_isolated/setup.bash
Then run the nodes as usually but with hand_name:=schunk as argument.
Note
the SVH’s URDF does not have dynamic parameters, so at the moment it can not be simulated with gazebo (so do not use gazebo:=true).
qb SoftHand
This end-effector has a humanoid structure but it has only a single actuated joint. It can close all the fingers together in a compliant way. More information can be found at qb robotics website.
Necessary steps before running ROS End-Effector with this hand:
mkdir ~/qbhand
cd ~/qbhand
mkdir src
cd src
git clone https://bitbucket.org/qbrobotics/qbhand-ros.git
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/qbhand/
Then run the nodes as usually but with hand_name:=qbahnd as argument.
Robotiq 3-Finger Gripper
This is a gripper with 3 fingers and two actuators. The first one close all the fingers, the other one spread the two adiacent fingers. More information can be found in the Robotiq website.
Necessary steps before running ROS End-Effector with this gripper:
mkdir ~/robotiq_ws
cd ~/robotiq_ws
mkdir src
cd src
git clone https://github.com/ros-industrial/robotiq.git
cd robotiq
git checkout kinetic-devel
cd ../..
rosdep update
rosdep install robotiq_modbus_tcp
sudo apt-get install ros-kinetic-soem
rosdep install --from-paths src/ --ignore-src --rosdistro kinetic
catkin_make
source devel/setup.bash
Then run the nodes with hand_name:=robotiq_3f as argument
Note
The original urdf from robotiq has been modified a bit. First, some joints have been put as mimic. Then, friction and damping of joints parameters have been inserted so the model could be used in gazebo. Other addition are contact coefficents (of tips) and colors. These parameters obviosly can be very different from the real ones.
Robotiq 2F-140 Gripper
This is an industrial parallel gripper with two pads and a single actuator to close them. More information can be found in the Robotiq website.
Necessary files are in the same repository of Robotiq 3-Finger Gripper so follow those steps if you did not do it before.
You can try this gripper as usual running the nodes with hand_name:=robotiq_2f_140 as argument.