gripper control

edit

hello community, I don't have much experience in ros and excuse my english.

how to move the "robotic claw" of my robotic arm from moveit and to execute the movement in the gazebo simulation?

I am using the claw of this robotic arm: https://www.thingiverse.com/thing:169...

I follow the following hardware interface configuration guide: https://github.com/PickNikRobotics/ro...

my robot controller looks like this:

dof_fit:
# Simulation settings for using moveit_sim_controllers
moveit_sim_hw_interface:
  joint_model_group: hand
  joint_model_group_pose: open
# ros_control_boilerplate Settings -----------------------
# Settings for ros_control control loop
generic_hw_control_loop:
  loop_hz: 300
  cycle_time_error_threshold: 0.01

# Settings for ros_control hardware interface
hardware_interface:
  joints:
    - Joint_1
    - Joint_2
    - Joint_3
    - Joint_4
    - Joint_5
    - Joint_6
    - Gripper_Idol_Gear_Joint
    - Gripper_Servo_Gear_Joint
sim_control_mode: 0 # 0: position, 1: velocity

# Publish all joint states -----------------------------------
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

arm_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - Joint_1
    - Joint_2
    - Joint_3
    - Joint_4
    - Joint_5
    - Joint_6
  constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0
    Joint_1: {trajectory: 0.1, goal: 0.0}
    Joint_2: {trajectory: 0.1, goal: 0.0}
    Joint_3: {trajectory: 0.1, goal: 0.0}
    Joint_4: {trajectory: 0.1, goal: 0.0}
    Joint_5: {trajectory: 0.1, goal: 0.0}
    Joint_6: {trajectory: 0.1, goal: 0.0}
  gains:
    Joint_1: {p: 60, i: 40, d: 0.0, i_clamp: 1}
    Joint_2: {p: 80, i: 60, d: 0.0, i_clamp: 1}
    Joint_3: {p: 60, i: 40, d: 0.0, i_clamp: 1}
    Joint_4: {p: 60, i: 40, d: 0.0, i_clamp: 1}
    Joint_5: {p: 60, i: 40, d: 0.0, i_clamp: 1}
    Joint_6: {p: 80, i: 60, d: 0.0, i_clamp: 1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10

hand_controller:
  type: effort_controllers/JointTrajectoryController
  joints:
    - Gripper_Idol_Gear_Joint
    - Gripper_Servo_Gear_Joint
  constraints:
    goal_time: 1.5
    stopped_velocity_tolerance: 0
    Gripper_Idol_Gear_Joint:       {trajectory: 0.0, goal: 0.0}
    #Tip_Gripper_Idol_Joint:        {trajectory: 0.0, goal: 0.0}
    Gripper_Servo_Gear_Joint:      {trajectory: 0.0, goal: 0.0}
    #Tip_Gripper_Servo_Joint:       {trajectory: 0.0, goal: 0.0}
    #Pivot_Arm_Gripper_Servo_Joint: {trajectory: 0.0, goal: 0.0}
    #Pivot_Arm_Gripper_Idol_Joint:  {trajectory: 0.0, goal: 0.0}
  gains:
    Gripper_Idol_Gear_Joint:       {p: 0, i: 0, d: 0, i_clamp: 0}
    #Tip_Gripper_Idol_Joint:        {p: 0, i: 0, d: 0, i_clamp: 0}
    Gripper_Servo_Gear_Joint:      {p: 0, i: 0, d: 0, i_clamp: 0}
    #Tip_Gripper_Servo_Joint:       {p: 0, i: 0, d: 0, i_clamp: 0}
    #Pivot_Arm_Gripper_Servo_Joint: {p: 0, i: 0, d: 0, i_clamp: 0}
    #Pivot_Arm_Gripper_Idol_Joint:  {p: 0, i: 0, d: 0, i_clamp: 0}
  stop_trajectory_duration: 1.0
  state_publish_rate:  1.0
  action_monitor_rate: 1.0

the complete repository of my project is the following: https://github.com/arnolvalencia1/kim...

I am currently trying to control it from the effort interface my_robot_control_effort.launch