onrobot

ROS onrobot meta-package

Packages

onrobot_description

This package contains the description of OnRobot RG2 and RG6 grippers. The descriptions are based on the URDF format.

onrobot_control

This package contains the config controller ile and the launh of the ros2 controller for the gripper*

onrobot_interface

This package implements the onrobot_gripper interface for interfacing RG2 or RG6 grippers attached to a Universal Robot (UR3, UR5, UR10) from ROS2.

Installation

Clone the repository:

git clone https://github.com/ikalevatykh/onrobot_ros.git

Build the package using colcon:

colcon build

Source the workspace setup file:

source install/setup.bash

Usage

Simulation

To visualize the gripper and check if the URDF is correct, run:

ros2 launch onrobot_description test.launch.py

To test the gripper standalone in simulation (with Gazebo), run:

ros2 launch onrobot_description test_gazebo.launch.py

Real Hardware

To use the real gripper:

1. Integrate the gripper into your URDF setup with a Universal Robot.
2. Launch the io_controller on the UR.

Refer to the package documentation for detailed integration steps.

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## Shutting Down the Real Gripper without Turning Off the UR

When using the real gripper, if you want to shut it down **without shutting down the UR robot itself**, you can use the following ROS 2 service call:

```bash
ros2 service call /<prefix>io_and_status_controller/set_io ur_msgs/srv/SetIO "{fun: 4, pin: 0, state: 0.0}"

• fun: 4 means you are setting the tool power supply (i.e., controlling the tool output voltage).
• pin: 0 corresponds to the tool output voltage control pin.
• state: 0.0 disables the power supply to the gripper (turns it off).

Replace <prefix> with the appropriate namespace or controller prefix used in your UR setup.

Important:

• The project supports grippers connected to a Universal Robot controlled by the Universal_Robots_ROS2_Driver.
• The package assumes a gripper in Teach mode (without the UR Caps OnRobot installed). See the Teach Mode section in the gripper manual for more details. In this mode, only two gripper positions are supported: fully open and fully closed.