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PR2 Velocity Control

asked 2012-01-26 02:37:02 -0500

updated 2014-11-22 17:05:06 -0500

ngrennan gravatar image

Is it possible to control the velocity (effort) of a PR2's gripper? So instead giving the position of the gripper, calculating the IK etcetc, I would like to give the velocity of the gripper as a vector and the arm will move accordingly until told otherwise.

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answered 2012-01-26 02:42:04 -0500

Lorenz gravatar image

There is CartesianTwistController in robot_mechanism_controllers which should do exactly what you want. I don't know if there is a working configuration/launch file for PR2 though. But I think it shouldn't be too hard to configure.

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Great, I knew it was somewhere. I'll try it, many thanks
Lorenzo Riano gravatar imageLorenzo Riano ( 2012-01-26 03:09:46 -0500 )edit

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Asked: 2012-01-26 02:37:02 -0500

Seen: 320 times

Last updated: Jan 26 '12