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Version: ROS 2 Humble

Manipulators

Manipulators include all robotic arms and grippers. Unlike sensors, manipulators are not controlled by external drivers. Instead, a hardware controller must be loaded into the controller manager to handle the joint interface to move the specific manipulator joints.

Additionally, MoveIt! must be launched to plan paths and move manipulators to a given pose.

Every arm can have at most one gripper, and grippers can only be added to an existing arm. This way, depending on the arm and the gripper, the configuration system can determine whether the arm handles communication with the gripper or whether it must be done through an external connection directly to the robot computer.

Kinova Arms​

manipulators:
  arms:
    - model: kinova_gen3_lite
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: kinova_2f_lite

Package and Setup​

The Kinova Gen3 Lite uses the kortex_description and kortex_driver ROS 2 Packages. The driver is open source, maintaned by Kinova Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 Lite description file in clearpath_manipulators_description.

Device IP and Port​

The ip and port parameters must be set to the corresponding values set on the manipulators configuration page.


manipulators:
  arms:
    - model: kinova_gen3_6dof
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: robotiq_2f_85

Package and Setup​

The Kinova Gen3 6Dof uses the kortex_description and kortex_driver ROS 2 Packages. The driver is open source, maintaned by Kinova Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 6Dof description file in clearpath_manipulators_description.

Device IP and Port​

The ip and port parameters must be set to the corresponding values set on the manipulators configuration page.


manipulators:
  arms:
    - model: kinova_gen3_7dof
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: robotiq_2f_85

Package and Setup​

The Kinova Gen3 7Dof uses the kortex_description and kortex_driver ROS 2 Packages. The driver is open source, maintaned by Kinova Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova Gen3 7Dof description file in clearpath_manipulators_description.

Device IP and Port​

The ip and port parameters must be set to the corresponding values set on the manipulators configuration page.


Kinova Grippers​

manipulators:
  arms:
    - model: kinova_gen3_lite
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: kinova_2f_lite

Package and Setup​

note

The Kinova 2F Lite gripper is the standard gripper on the Kinova Gen3 Lite. It is controlled via the arm's hardware interface and therefore, does not need it's own controller.

The Kinova 2F Lite gripper uses the kortex_description and kortex_driver ROS 2 Packages. The driver is open source, maintaned by Kinova Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Kinova 2F Lite gripper description file in clearpath_manipulators_description.


Robotiq Grippers​

manipulators:
  arms:
    - model: kinova_gen3_6dof
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: robotiq_2f_85

Package and Setup​

note

The Robotiq 2F 85 gripper is supported by the Kinova Gen3 arm's wrist connector and hardware interface. Therefore, when attached to Kinova arm's the Robotiq gripper does not need it's own controller.

The Robotiq 2F 85 uses the robotiq_description and robotiq_driver ROS 2 Packages. The driver is open source, maintaned by PickNik Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Robotiq 2F 85 gripper description file in clearpath_manipulators_description.


manipulators:
  arms:
    - model: kinova_gen3_6dof
      parent: default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: robotiq_2f_140

Package and Setup​

note

The Robotiq 2F 140 gripper is supported by the Kinova Gen3 arm's wrist connector and hardware interface. Therefore, when attached to Kinova arm's the Robotiq gripper does not need it's own controller.

The Robotiq 2F 140 uses the robotiq_description and robotiq_driver ROS 2 Packages. The driver is open source, maintaned by PickNik Robotics, and hosted on GitHub.

For more specifics on the way Clearpath's configuration system adds the manipulator to the robot description, see the Robotiq 2F 140 gripper description file in clearpath_manipulators_description.


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