haramoz's profile - activity

Ah found the solution!!

First of all, right way to use gripper action controller is like this position_controllers/GripperActionController (for positionJointInterface). This can be found in the exported library of the gripper action controller. The example usage in the hardware_interface_adapter.h ( https://github.com/ros-controls/ros_c... ) file is rather misleading.

Secondly, the gripper command works with just one joint, I was trying to pass a joint array. that was the mistake.

gripper_controller: type: position_controllers/GripperActionController joint: joint_name

is working now. Even though I was sending one joint it was configured as an array. Which was wrong. Thank you.

Hello,

I have exposed my joint to the RobotHW by registering them with Hardware_interface::PositionJointInterface. Now to use the Gripper_action_controller I have created two controller.yaml one for the ros controller manager side and one for the moveit side.

The ros control manager side controller.yaml looks as follows:

gripper_controller: type: gripper_action_controller/GripperActionController joint: - joint_name

but when i try to spawn the controller it says "failed to load gripper_controller". I am not sure where is the mistake. I have tried configuring position_controllers/GripperActionController as "type" too. Results in same error. How ever If I configure position_controllers/JointTrajectoryController as the "type" then the controller is successfully spawned. is there issue in how i register the hardware interface?

Could you please guide me in this regard? This is my first post here, please excuse me for the mistakes. Thanks.

I have one camera which moves everyday to a new position, and I have two markers at the corner of a table. What are the steps to effectively measure the position of a robot with respect to the center of the table. Robot is moving on the table. And the camera returns 4X4 homogeneous matrices of the markers and the robot. Please suggest steps. arena dimension is 2.2m X 1.3m.