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Hi, I'm the author of the gazebo plugin. @wkentaro on GitHub

As commented by gvdhorn, you can turn on/off the vacuum gripper with on, off ros service with std_srvs/Empty message.

And the crucial thing for this plugin is the distance between the object link and gripper one (currently the plugin does not compute the distance between the collisions of gripper and the object), so in most cases you need to add another link to the robot to use this gripper.

I personally used this plugin for two robots, Baxter and FanucLRMate200id, and in the last use I found below changes are necessary to make the plugin work stably. https://github.com/ros-simulation/gazebo_ros_pkgs/pull/482 With the PR, you can change the parameter for min/max distance to apply force to the object, and max force. Also, it removes the angular velocity of the grasped object.