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Ah found the solution!!

First of all, right way to use gripper action controller is like this position_controllers/GripperActionController (for positionJointInterface). This can be found in the exported library of the gripper action controller. The example usage in the hardware_interface_adapter.h (https://github.com/ros-controls/ros_controllers/blob/jade-devel/gripper_action_controller/include/gripper_action_controller/hardware_interface_adapter.h) file is rather misleading.

Secondly, the gripper command works with just one joint, I was trying to pass a joint array. that was the mistake.

gripper_controller: type: gripper_action_controller/GripperActionController joint: joint_name

is working now. Even though I was sending one joint it was configured as an array. Which was wrong. Thank you.

Ah found the solution!!

First of all, right way to use gripper action controller is like this position_controllers/GripperActionController (for positionJointInterface). This can be found in the exported library of the gripper action controller. The example usage in the hardware_interface_adapter.h (https://github.com/ros-controls/ros_controllers/blob/jade-devel/gripper_action_controller/include/gripper_action_controller/hardware_interface_adapter.h) file is rather misleading.

Secondly, the gripper command works with just one joint, I was trying to pass a joint array. that was the mistake.

gripper_controller: type: gripper_action_controller/GripperActionController position_controllers/GripperActionController joint: joint_name

is working now. Even though I was sending one joint it was configured as an array. Which was wrong. Thank you.