This package contains meshes and URDF description of Robotiq Hand-E gripper dedicated for Universal Robots e-series.
- The gripper comes with coupler model (but without flange).
- This repository comes with CAD models imported from STEP files to FreeCAD format (FCStd).
- Package has been developed and tested in ROS 2 Humble.
Important
The fingers' joints can be set from 0 to 25 mm (which correspondes to the maximal grasp with from 0 to 50 mm).
(Errata: The minus width range in the animation above is outdated)
In your URDF (Xacro) file include the Hand-E definition. Provide a parent link (for instance tool0) as the parameter:
<xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro" />
<!-- ... -->
<xacro:robotiq_hande_gripper parent="PARENT_LINK" prefix="" />An example usage can be find in the urdf/hande_preview.urdf.xacro file.
Note
The TF frame of the end tip of the gripper is called ${prefix}hande_end, where ${prefix} evaluates as the second macro paramater.
- Build the package with
colconand source it:
colcon build --symlink-install
source ./install/setup.bash- Run the Rviz with a call to the
urdf_launchpackage:
ros2 launch robotiq_hande_description display.launch.py- The orignal files of the gripper model were taken from the Robotiq website.
- The URDF files are based on work of @cambel repository.
- Preview in Rviz is based on ROS 2 URDF Tutorial.