Addition of the vacuum grippers (only EPick at the moment)

[jproberge]

This PR provides support for the Robotiq vacuum grippers. It has already been successfully tested on the EPick gripper, but it should also work for the Airpick (never tested though).

There is a video showing this specific package in action here. I'd be very happy if someone could review / test this so that we can merge it for customers using these grippers. Please don't hesitate to ask questions or to make any comments. Thanks!

[li2jq]

Hi @jproberge
Do you fix this problem for your customer?

_File "/home/li2jq/catkin_ws/src/robotiq-kinetic-devel/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 95, in getStatus
 output.append((response.getRegister(i) & 0xFF00) >> 8)
AttributeError: 'ModbusIOException' object has no attribute 'getRegister'_

Also from your last comment, you made a patch to temporarily solve this problem. Could you provide the detailed instructions about this patch? Like where to add/change/delete the code. Thank you!

Best regards
Jiqing Li

[jproberge]

Hi @jproberge
Do you fix this problem for your customer?

_File "/home/li2jq/catkin_ws/src/robotiq-kinetic-devel/robotiq_modbus_rtu/src/robotiq_modbus_rtu/comModbusRtu.py", line 95, in getStatus
 output.append((response.getRegister(i) & 0xFF00) >> 8)
AttributeError: 'ModbusIOException' object has no attribute 'getRegister'_

Also from your last comment, you made a patch to temporarily solve this problem. Could you provide the detailed instructions about this patch? Like where to add/change/delete the code. Thank you!

Best regards
Jiqing Li

Hello @li2jq ,

Since you are not the only person having this problem and that it seems to affect some EPick vacuum grippers, I've added a patch that works on all grippers and should fix the problem for you (and others who have the same issue). If you have time, could you try this PR and review it? Thanks for your feedback!

[ljden]

Any progress on this PR?

[Mahdiford]

Tested on Epick. README update for beginners would be helpful.