robotiq_hande_description

For the driver, check the robotiq_hande_driver package from AGH UST.

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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.
• The definitions for the ros2_control framework are available in the robotiq_hande_gripper.ros2_control.xacro file.

Important

The fingers' joints can be set from 0 to 25 mm (which corresponds to the maximal grasp with from 0 to 50 mm).

(Errata: The minus width range in the animation above is outdated)

Usage

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 parameter.

Preview

1. Build the package with colcon and source it:

colcon build --symlink-install
source ./install/setup.bash

1. Run the Rviz with a call to the urdf_launch package:

ros2 launch robotiq_hande_description display.launch.py

Credits

• The original 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.