Abdullah's profile - activity

How to get started with VISP , if I am using ROS-indigo?

I mean, is there any ROS package example with launch files that executes VISP based tracking or visual servoing?

My question is that after attaching the payload , does this really act like a joint, I mean the weight of the payload, does it play any role after being attached to the left_end_effector (gripper)?

Hi Wada San, Thank you so much for all the help. I have just one more question, when I look at the code it seems like , when the payload is attached finally, it actually changes the position of the payload every gazebo cycle to the position of the left_end_effector.

Hi, Were you able to find the answer? If yes, please kindly let me know as well.

gvdhoorn, sir, I have one more question sir , what needs to be done to let gripper pull objects on collision, I mean applying force on any other part of the object rather than just center of mass?

I am asking similar question as this one,

https://github.com/ros-simulation/gaz...

I am confused, since , this is the plugin that I have to use , not a node. Am I supposed to use rosservice as a node to call this service in my cpp code? if that is the case, how would I write the code , it gets confusing, I would really appreciate for the help.

Hi thank you so much gvdhoorn for all the help. I am finally able to use this plugin. Thanks to kentaro wada san as well.

My question is that now I am trying to do a ros service call from within a code of a node in cpp. For the same case. Existing tutorials talk about srv files and similar things

Thank you JoshMarino, but it seems like I have to write a code for the client. but it seems like the server node should be running already for the client code to call it via waitforservice thing.

I mean how to run a node from scratch, i mean not initiate a node, or become a node, but launching it

I wish to write a code for a node that could do the following for me

1) run a node with an argument 2) do a rosservice call

Basically I want to be able to do what a launch file does, in a python code Where should I begin? I mean is there any tutorial or rospy code that could help me begin with?

I am trying to write a code in python where I want to be able to run a node or a launch file, and do a rosservice call with an argument. I am trying to find some examples , please kindly guide me if you know of any good examples to start with or if you know how to do it?

Hi wkentaro,

Thank you so much for the help. I am able to run this plugin and I am able to turn it on, but for some reason, I could not see any force yet. I will try with the modified code you mentioned, and I hope I will be able to run it. Thank you so much for writing this code.

The source code for the Gazebo_ros_vacuum_gripper is available in the following link

http://docs.ros.org/jade/api/gazebo_p...

I understand that the gripper is supposed to be activated by calling the ros service "on".

I am doing exactly the same as I explained here

http://answers.ros.org/question/24308...

The problem is that upon contact and after calling the ros service "on" , I cannot see any applicatio of force on the object link. I feel that I am missing something here, please take a look at the code, and let me know what are the conditions for the application of force.

I am unable to grasp the numbers there as well, in the force application section , such as line 00207 says normal force >20 so what is 20 here. similarly on lines 00195 and 00201.

I would really appreciate any help, I have been working to make this plugin work for weeks now. Please help me.

How does this plugin gazebo_ros_vacuum_gripper triggers the gripping process?

If you have good understanding of the code, please take a look at the following code, and let me know, how does the gripping is triggered in this code?

http://docs.ros.org/jade/api/gazebo_p...

http://docs.ros.org/jade/api/gazebo_p...

There is an example as below but when I run this plugin, I am not able to trigger the vacuum force required for gripping.

http://docs.ros.org/jade/api/gazebo_p...

I am stuck at this for weeks, I would really appreciate any insight of the code.