Controlling Gen3 6DOF with Robotiq_2F_140 Gripper

[jakmilller]

We have noticed that the following changes are required to control the Gen3 while using a Robotiq_2F-140 gripper.

To get this command to work

ros2 launch kortex_bringup gen3.launch.py robot_ip:=192.168.1.10 gripper:=robotiq_2f_140 dof:=6

first modify the gen3.launch.py file found in kortex_bringup/launch from

 declared_arguments.append(
        DeclareLaunchArgument(
            "gripper_joint_name",
            default_value="robotiq_85_left_knuckle_joint",
            description="Name of the gripper attached to the arm",
        )
    )

to

 declared_arguments.append(
        DeclareLaunchArgument(
            "gripper_joint_name",
            default_value="",
            description="Name of the gripper attached to the arm",
        )
    )

This should allow you to move the arm through MoveIt or throguh the ROS2 topic. Next, change the ros2_controllers.yaml file under kortex_description/arms/gen3/6dof/config from

 obotiq_gripper_controller:
  ros__parameters:
    default: true
    joint: robotiq_85_left_knuckle_joint
    allow_stalling: true

to

 robotiq_gripper_controller:
  ros__parameters:
    default: true
    joint: finger_joint
    allow_stalling: true

This will allow you to open and close the gripper via the ROS2 action listed in the documentation (ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command:{position: 0.4, max_effort: 100.0}})

Make sure to rebuild and source your workspace after making these changes.

[aalmrad]

@jakmilller thank you for your contribution, I will make sure to address this issue in my next repository update soon.

[github-actions]

As part of Kinova's beta testing: Claude is analyzing this issue and will attempt an automated fix. A pull request will be opened if changes are made.

[github-actions]

Claude has submitted a fix attempt: #383

Please review the proposed modifications and test them on your end, then provide feedback here.
A member of Kinova's team will follow up on this issue and take the appropriate next steps.