Use of force-controlled grippers

1 Slider control

Open a command line and run:

Note: If the end effector uses myGripper F100 force-controlled gripper, the version of the pymycobot driver library must be greater than 3.6.4

# If the end is equipped with a myGripper F100 force-controlled gripper, run (the default serial port name for the 2022 mycobot 320-M5 version is "/dev/ttyUSB0" and the baud rate is 115200. Some models have the serial port name "dev/ttyACM0". If the default serial port name is incorrect, you can change the serial port name to "/dev/ttyACM0"):
roslaunch new_mycobot_320 mycobot_320_force_gripper_slider.launch port:=/dev/ttyACM0 baud:=115200

Open rviz and a slider component , and you will see the following interface:

If the myGripper F100 force-controlled gripper is installed at the end, the following interface will be displayed:

Then you can control the model in rviz and move it by dragging the slider . If you want the real mold robot to move with the model, you need to open another command line and run:

Note: If the end effector uses myGripper F100 force-controlled gripper, the version of the pymycobot driver library must be greater than 3.6.4

# If the end is equipped with a myGripper F100 force-controlled gripper, run (the default serial port name for the 2022 mycobot 320-M5 version is "/dev/ttyUSB0" and the baud rate is 115200. Some models have the serial port name "dev/ttyACM0". If the default serial port name is incorrect, you can change the serial port name to "/dev/ttyACM0"):
rosrun new_mycobot_320 mycobot_320_force_gripper_slider.py _port:=/dev/ttyACM0 _baud:=115200

Please note: Since the robot will move to the current position of the model when the command is entered, please make sure that the model in rviz does not appear to be intersecting before you use the command. Do not drag the slider quickly after connecting the robot arm to prevent damage to the robot arm.

2 Use of moveit

mycobot_ros integrates MoveIt parts.

Note: I