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Hi, please considering using roboticsgroup_gazebo_plugins and <multiplier>-1.0</multiplier>.

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="robotiq_arg2f_transmission" params="prefix">
    <transmission name="${prefix}finger_joint_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${prefix}finger_joint">
        <hardwareInterface>PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="${prefix}finger_joint_motor">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
        <gazebo>
             <!-- loading plugin: mimic joints works in gazebo now-->
             <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_4">
                <joint>${prefix}finger_joint</joint>
                <mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
                <multiplier>-1.0</multiplier>
            </plugin>
            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_2">
                <joint>${prefix}finger_joint</joint>
                <mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
                <multiplier>1.0</multiplier> 
            </plugin>
            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_1">
                <joint>${prefix}finger_joint</joint>
                <mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
                <multiplier>1.0</multiplier>
            </plugin>
            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_3">
                <joint>${prefix}finger_joint</joint>
                <mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
                <multiplier>-1.0</multiplier>
            </plugin>
            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="${prefix}mimic_robotiq_140_5">
                <joint>${prefix}finger_joint</joint>
                <mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
                <multiplier>-1.0</multiplier>
            </plugin>
        </gazebo>
  </xacro:macro>
</robot>

At least this code works for me. The complete package is https://github.com/intuitivecomputing/ur5_with_robotiq_gripper. The package enables an ur5 and a Robotiq 140 gripper to be used with Moveit! and Gazebo. Hope it is helpful.