Move 2f models to a separate repo

[carlosjoserg]

I don't know if I'll ever PR against the ros industrial repo, I don't like to too much all different components, force torque sensor, all gripper models, eventually the camera

Even when they work together wonderfully, I'd prefer to have each component separated to avoid building unnecessary dependencies when working from source

[felixvd]

I still can't find any other ROS definition of the current 2-finger gripper except this one. Are you sure you don't want to do a PR to add these models?

[carlosjoserg]

Hi @felixvd

Thanks for your interest in the package.

Sure, I'd like to, I'm always pro in contributing back to upstream repos, but it seems there are some differences in our work w.r.t. to what's in ROS-I, starting by naming: I call it 2F-85 (a bit more intuitive and corresponding to the actual gripper names) and I don't know whether that is equivalent to the s, c or c2 model, or whether the c or c2 model are the same or not.

I see someone already added the 2F-140 model: https://github.com/ros-industrial/robotiq/tree/jade-devel/robotiq_arg2f_model_visualization and that'd could be actually merged to the xacro models I have

I actually wanted to have a separate repo for the grippers (in ROS-I there is also the force torque sensor, which I don't use, so to minimize dependencies in our setups), and as matter of fact, I dno't use any of the code in there.

But I'm open to suggestions, what would you suggest on how to PR back to the ROS-I, only the URDF model?

[felixvd]

Hi Carlos,

To be honest, I am not sure right now, because I haven't used grippers in simulation and I am not familiar with the standards and expectations of the robotiq package. It is one of the more frustrating ones, from what I can tell.

Someone added the 2F-140 model, but not the 2F-85 model, as far as I can see. I have also found this other repo for the 85-gripper, which I am trying out now. It would be good to check how the robotiq repositories and others organize their controllers, for example.

I might have a better suggestion in a few months. I don't feel like I found my way around the situation yet.

Cheers

[carlosjoserg]

Found another one, but haven't tested it.. the driver is similar to the one in ROS-I though: https://github.com/waypointrobotics/robotiq_85_gripper