egh_80_iol_n

ROS integration for SCHUNK EGH 80-IOL-N gripper.

Prerequisites

How to setup

Clone the egh_80_iol_n package into your catkin workspace. In egh_80_iol_n_service.py , set the IP-adress of your gripper. Build and source your workspace.

How to run

run the gripper node with

rosrun egh_80_iol_n egh_80_iol_n_service.py

or inside your custom launch file.

How to use

Inside custom python script

from egh_80_iol_n.srv import set_position, grip

# call grip service
grip_srv = rospy.ServiceProxy("egh_80_iol_n/grip", grip)
grip = grip()
grip.force = 4
grp_response = grip_srv(grip)

# call set_position service
pos_srv = rospy.ServiceProxy("egh_80_iol_n/set_position_service", set_position)
position = set_position()
position.position = 50 # percentage of max. stroke (0: closed, 100: opened)
pos_response = pos_srv(position)

ToDo

• create launch file with args