mexomagno's profile - activity

A little late to the party. Here is a gazebo plugin that fixes this problem! I'm currently using it and works perfectly :)

I do it like this: From terminal, I use an alias for each gripper, defined like this:

alias lgripper_close='rostopic pub -1 /l_gripper_controller/gripper_action/goal pr2_controllers_msgs/Pr2GripperCommandActionGoal '\''{header:{}, goal_id:{}, goal:{command : {position : 0.00, max_effort : 1000}}}'\'''
alias lgripper_close='rostopic pub -1 /l_gripper_controller/gripper_action/goal pr2_controllers_msgs/Pr2GripperCommandActionGoal '\''{header:{}, goal_id:{}, goal:{command : {position : 0.00, max_effort : 1000}}}'\'''

From C++ I just publish a proper pr2_controller_msgs/Pr2GripperCommandActionGoal message directly to the /?_gripper_controller/gripper_action/goal topic.

For feedback, I subscribe and check the messages from /?_gripper_controller/gripper_action/result. Specifically, I check the value of the reached_goal field. Hope that now on 2016 this still helps someone.

Nice! I was going to do the same! and seems like i have no other choice left. However, i'd like to suggest that you publish appropriate messages to the "/r_gripper_controller/gripper_action/goal" topic so you can get feedback from "/r_gripper_controller/gripper_action/[result | feedback]" topics