Implementation of vacuum suction using vacuum gripper

edit

Hello. I'm in the process of implementing vacuum suction by referring to some of the open sources here. I referenced a lot in urdf, gazebo's xacro, and node files, but the object should stick to the wall, but it keeps falling off. I'll give you the attached file, can you take a look? Source code is here.

python code of vacuum suction

#!/usr/bin/env python3
import rospy
from geometry_msgs.msg import Twist
import moveit_msgs.msg
from std_msgs.msg import Header
from std_msgs.msg import Bool
from std_srvs.srv import Empty

def gripper_status(msg):
    if msg.data:
        return True

def gripper1():
    rospy.wait_for_service('/wallclimb/vacuum1/on')
    try:
        turn_on = rospy.ServiceProxy('/wallclimb/vacuum1/on', Empty)
        resp = turn_on()
        return resp
    except rospy.ServiceException as e:
        print("Service call failed : %s" % e)

def gripper2():
    rospy.wait_for_service('/wallclimb/vacuum2/on')
    try:
        turn_on = rospy.ServiceProxy('/wallclimb/vacuum2/on', Empty)
        resp = turn_on()
        return resp
    except rospy.ServiceException as e
        print("Service call failed : %s" % e)

rospy.init_node('climbbot_gripper', anonymous=False)
gripper_sub = rospy.Subscriber('/wallclimb/vacuum/grip', Bool, gripper_status,queue_size=1)
gripper1()
gripper2()
rospy.spin()

urdf.xacro of vacuum suction part

<joint name="vacuum_front_joint" type="revolute">
    <parent link="base_link"/>
    <child link="vacuum_front_link"/>
    <origin xyz="0.0625 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="5000" velocity="50" lower="0" upper="0"/>
    <dynamics damping="0.0" friction="10"/>
</joint>

<link name="vacuum_front_link">
    <gravity>0</gravity>
    <visual>
        <geometry>
            <mesh filename="package://wallclimb/mesh/wall_climb_prototype_vacuum_front.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-0.0625 0 0"/>
        <material name="yellow">
            <color rgba="1 1 0 1"/>
        </material>
    </visual>

    <collision>
        <geometry>
            <mesh filename="package://wallclimb/mesh/wall_climb_prototype_vacuum_front.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin rpy="0 0 0" xyz="-0.0625 0 0"/>
    </collision>

    <xacro:vacuum_front_inertia m="${vacuum_M}" r="${vacuum_R}" h="${vacuum_H}"/>
</link>

<joint name="vacuum_back_joint" type="fixed">
    <parent link="base_link"/>
    <child link="vacuum_back_link"/>
    <origin xyz="-0.0625 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="5000" velocity="50" lower="0" upper="0"/>
    <dynamics damping="0.0" friction="10"/>
</joint>

<link name="vacuum_back_link">
    <gravity>0</gravity>
    <visual>
        <geometry>
            <mesh filename="package://wallclimb/mesh/wall_climb_prototype_vacuum_back.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.0625 0 0"/>
        <material name="yellow">
            <color rgba="1 1 0 1"/>
        </material>
    </visual>

    <collision>
        <geometry>
            <mesh filename="package://wallclimb/mesh/wall_climb_prototype_vacuum_back.stl" scale="0.001 0.001 0.001"/>
        </geometry>
        <origin rpy="0 0 0" xyz="0.0625 0 0"/>
    </collision>

    <xacro:vacuum_back_inertia m="${vacuum_M}" r="${vacuum_R}" h="${vacuum_H}"/>
</link>

gazebo.xacro of vauum suction part

<gazebo>
    <plugin name="gazebo_ros_vacuum_gripper1" filename="libgazebo_ros_vacuum_gripper.so">
        <robotNamespace>/wallclimb/vacuum1</robotNamespace>
        <bodyName>vacuum_front_link</bodyName>
        <topicName>grip1</topicName>
        <maxForce>5000</maxForce>
        <maxDistance>0 ...