Revision history [back]

Update: The problem is fixed. I dont know what exactly is going wrong but i figured the problem was caused by the joints inside the gripper.

I changed the gripper file and made all the joints fixed, then linked the gripper base to the sensor like this:

<joint name="gripper_joint" type="fixed"> <parent link="fts_robotside"/> <child link="robotiq_85_base_link"/> <origin xyz="0.0 -0.01 0.03" rpy="1.5706 -1.5706 0.0"/>
</joint>

Then everything worked fine. If someone is interested in a more detailed version ofmy solution, feel free to ask, but if no one is interested i won't bother :p

Kind regards, Jan Tromp

Update: The problem is fixed. I dont know what exactly is going wrong but i figured the problem was caused by the joints inside the gripper.

I changed the gripper file and made all the joints fixed, then linked the gripper base to the sensor like this:

<joint name="gripper_joint" type="fixed"> <parent link="fts_robotside"/> <child link="robotiq_85_base_link"/> <origin xyz="0.0 -0.01 0.03" rpy="1.5706 -1.5706 0.0"/>
</joint>

Then everything worked fine. If someone is interested in a more detailed version ofmy solution, feel free to ask, but if no one is interested i won't bother :p

Kind regards, Jan Tromp

Update: The problem is fixed. I dont know what exactly is going wrong but i figured the problem was caused by the joints inside the gripper.

I changed the gripper file and made all the joints fixed, then linked the gripper base to the sensor like this:

<joint name="gripper_joint" type="fixed"> <parent link="fts_robotside"/> <child link="robotiq_85_base_link"/> <origin xyz="0.0 -0.01 0.03" rpy="1.5706 -1.5706 0.0"/>
</joint>

Then everything worked fine. If someone is interested in a more detailed version ofmy solution, feel free to ask, but if no one is interested i won't bother :p

Kind regards, Jan Tromp

Update: The problem is fixed. I dont know what exactly is going wrong but i figured the problem was caused by the joints inside the gripper.

I changed the gripper file and made all the joints fixed, then linked the gripper base to the sensor like this:

Then everything worked fine. If someone is interested in a more detailed version ofmy solution, feel free to ask, but if no one is interested i won't bother :p

Kind regards, Jan Tromp

Update: The problem is fixed. I dont know what exactly is going wrong but i figured have found a workaroud for the problem. I found out the problem was being caused by something going wrong in the joints inside grippers' finger joints. I still haven't figured out what is exactly the gripper.problem but for my application the following work-around is enough for me:

I changed the gripper file and made all the joints fixed, then linked the gripper base to the sensor like this:

  <joint name="gripper_joint" type="fixed">
    <parent link="fts_robotside"/>
    <child link="robotiq_85_base_link"/>
    <origin xyz="0.0 -0.01 0.03" rpy="1.5706 -1.5706 0.0" />   
  </joint>

Then everything worked fine. If someone is interested in a more detailed version ofmy solution, feel free to ask, but if no one is interested i won't bother :pNote that this will make it so that the gripper cannot close anymore!

Kind regards, Jan Tromp