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pr2_etherCAT / ethercat_hardware driver plugin for EtherCAT version of Robotiq Adaptive Gripper. The driver is loaded as plug-in for by pr2_etherCAT and and provides status and control info through ROS messages riq_msgs.

For running pr2_etherCAT on a desktop machine (as oposed to a PR2), there are instructions here : pr2_etherCAT/Tutorials/Running

2024-07-13 13:20