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When using Gazebo 2.2.3, I have gotten grasping to work by adding the following to my robot's URDF file:

<gazebo>
  <gripper name="gripper">
    <grasp_check>
      <attach_steps>5</attach_steps>
      <detach_steps>10</detach_steps>
    </grasp_check>
    <gripper_link>gripper_movable_pad</gripper_link>
    <palm_link>gripper_fixed_pad</palm_link>
  </gripper>
</gazebo>

gripper_fixed_pad and gripper_movable pad are the links that form the grasping surfaces of a parallel gripper. Once both pads contact an object, Gazebo takes up to 15 seconds to attach the object to gripper, and up to 20 seconds to detach the object once the gripper is opened. I use the gazebo_ros_bumper plugin to detect when the gripper has grasped an object, then the code sleeps for 15 seconds, providing Gazebo with enough time to attach the object to the gripper.