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Robotiq Gripper on Universal Robots

There are two types of Universal Robot models: Cobots (CB3) and E-series.

If using an E-series arm, then using the internal connection is possible; follow the instructions below to setup a Robotiq on a UR E-series arm.

If using a CB3/Cobot arm then the Robotiq gripper will need to be wired directly onto the computer.

UR Tablet Setup

In Installation->General->Tool I/O:

  • set the tool output voltage to 24V
  • enable Communication Interface and use defaults
  • in General->Payload set the Mass to 1kg
  • save these to the default installation

Add URCap RS485 which will create a socat relay between the arm controller and the computer, such that the computer will be able to access the gripper as if it was connected to it as a USB device.

Follow these instructions to find how to add the URCap:

Environment Variable Setup

Use the setup_husky_ur_envar script to set and obtain the environment variables required.

Navigate to the husky_manipulation/husky_ur_description/scripts/ directory and run the script: ./setup_husky_ur_envar

See the usage below:

Usage: setup_husky_ur_envar -m ARM_MODEL [-d] [-g]
  -h | display this help menu
  -m | [required] arm model: ['ur3', 'ur3e', 'ur5', 'ur5e']
  -d | [optional] add dual arms
  -g | [optional] add gripper to the arm(s)

You must pass -m followed by the arm model type: ur3, ur3e, ur5, ur5e.
Pass -d if its a dual arm setup
Pass -g if the arm(s) have a Robotiq gripper
Ex. ./setup_husky_ur_envar -m ur5e -g, will add a UR5e arm with a Robotiq gripper

  • export HUSKY_TOP_PLATE_ENABLED=true
  • export HUSKY_LARGE_TOP_PLATE=true
  • export HUSKY_USER_RAIL_ENABLED=false
  • export HUSKY_UR_GRIPPER_ENABLED=true
  • export HUSKY_URDF_EXTRAS=/home/lcamero/Workspaces/husky_ws/src/husky_manipulation/husky_ur_description/urdf/husky_ur5_e_description.urdf.xacro

Description

If a custom URDF already exists, then use xacro:include to include the appropriate URDF (i.e. the one added as HUSKY_URDF_EXTRAS in the script above)

Ensure that the environment variables are set whenever you run any visualization, whether its RViz or the setup_assistant

Bringup

Select either husky_ur_bringup.launch or husky_dual_ur_bringup.launch. As long as the HUKSY_UR_GRIPPER_ENABLED environment variable is enabled, then the gripper will also be launched.

MoveIt Config

Use the script configure_moveit.sh in the husky_ur_robotiq_2f_85_moveit_config or husky_dual_ur_robotiq_2f_85_moveit_config package to create a custom MoveIt! config that includes the gripper by default.