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gripper_action_controller configuration

asked 2014-11-25 10:56:07 -0500

smithers gravatar image

Hello, I'm using Hydro and I saw that the ros_controllers package has a gripper controller. I have the wsg_50 gripper and I would like to use it with the gripper action controller but I don't know how to do it. My final idea is to integrate it with MoveIt. Someone could help me? Thanks!

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answered 2015-01-26 02:15:35 -0500

Adolfo Rodriguez T gravatar image

The gripper_action_controller supports single-actuator position- or effort-controlled grippers. What you need to do to use this controller is to expose the actuated joint of your gripper to your robot hardware abstraction (hardware_interface::RobotHW). The joint should be registered to the hardware_interface::PositionJointInterface if it's position-controlled, or to the hardware_interface::EffortJointInterface if it's effort-controlled.

A high-level overview of the ros_control concepts, including how to expose joint resources to a RobotHW instance can be found in the ROSCON 2014 talk (slides, video).

If you have further, more specific questions, don't hesitate to come back.

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Asked: 2014-11-25 10:56:07 -0500

Seen: 322 times

Last updated: Jan 26 '15