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Lyrical

Category Supported by Robotiq

Robotiq provides an official ROS 2 ros2_control driver for the 2F-85 and 2F-140 adaptive grippers. Grippers are controlled by writing their registers using the Modbus RTU protocol — see the gripper manual on the Robotiq support page for details: https://robotiq.com/support

The gripper action type is control_msgs/action/ParallelGripperCommand, driven by parallel_gripper_action_controller/GripperActionController (Humble predates that controller, so it uses position_controllers/GripperActionController with control_msgs/action/GripperCommand instead). Package names, launch files, controller names, topics, and xacro macro arguments are otherwise identical across distros.

Build​

cd ~/ros2_ws/src
git clone https://github.com/robotiq/ros.git
cd ~/ros2_ws
colcon build --packages-up-to robotiq_description
source install/setup.bash

Run​

ros2 launch robotiq_description robotiq_control.launch.py

Defaults to the 2F-85; pass gripper_model:=2f_140 for a 2F-140. If the gripper isn't plugged in at bringup, ros2_control_node stays up with the hardware component unconfigured and the launch prints the recovery commands once it's connected — no relaunch needed (shutdown_on_failure:=false also keeps the launch running, for launch files that include this one alongside nodes that should outlive the gripper).