Any plans to have this great repo for ROS2?

[royito55]

If not, do you know of any work done already to have an RG2 driver for ROS2?

[BrettRD]

I have some progress, but I don't have easy access to a gripper.
I'd love to know what I broke so I can make a working pull request
https://github.com/BrettRD/onrobot_grippers

[NickMcK14]

#4 (comment)

G'day @BrettRD, my uni group and I have access to a UR5e with a RG2 gripper for our capstone project.
We'd also like to get the gripper working with ROS2 as well.
Is there anything step wise you'd like us to try with your repository to test if anything broke?

[BrettRD]

Yes please!
I only have access to the RG6 and that seems to work ok, I'd love to hear results for the RG2.

I used the onrobot "compute box" (as did seemingly everyone else on the internet)
The UR5e internal RS485-TCP passthrough doesn't seem to work at all.

[fwarmuth]

@BrettRD
Same issue here, workaround:
Bind it to a local serial device via socat. Make sure the robot is at least in active mode, breaks could still be engaged.
See Using serial connection, e.g. UR Robot with RS-485 daemon forwarded to local machine