ROS-noetic+UR5上安装robotiq_85_gripper夹爪

夹抓(未配置控制器，无中间过程)

ROS-noetic+UR5上安装robotiq_85_gripper夹爪

 

夹抓(详细配置过程，依赖最新代码)

在UR5机械臂末端添加robotiq 2f 85夹爪并在Gazebo中仿真(可运行)

ur3+robotiq ft sensor+robotiq 2f 140配置rviz仿真环境

ur3+robotiq ft sensor+robotiq 2f 140配置gazebo仿真环境

ur3+robotiq ft sensor+robotiq 2f 140+realsense d435i配置rviz，gazebo仿真环境

gazebo仿真环境中添加robotiq 2f 140的gripper_controller控制器

 

相机+夹抓+待抓取物体(可直接运行，无中间过程)

ros1 noetic跑UR5_gripper_camera_gazebo

 

相机+夹抓+待抓取物体(有bug)

gazebo+rviz中配置UR+robotiq_gripper夹爪，最详细操作过程

gazebo+rviz配置UR5+dh_gripper（大寰）夹爪最详细教程

 

常见bug解决方案

1. error: 'class gazebo::physics::Joint' has no member named 'GetAngle'; did you mean 'GetForce'? double angle = joint_->GetAngle(0).Radian()*multiplier_+offset
2. Fix compiling error: '***' has no member named 'SetAngle', or 'GetValueString' #9

 

参考资料

1. Ubuntu20.04noetic配置UR5+robotiq140夹爪