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1 | initial version |
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.
2 | No.2 Revision |
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.