Tawfiq Chowdhury's profile - activity

It is odom-combined.

@Benjamin C, yes, it is odom-combined, initially I thought it is base link but it is not base link.

@Timple86, thanks for the idea.

What is a good API for SMACH? If I want to run a state machine (SMACH) from another python program, what will be a good

How to use ROS with Docker inside a catkin_ws I have docker installed on my Ubuntu (Jetpack) machine and I have a catkin

How to add a camera/gimbal frame for a drone in TF without URDF I have previously worked with a PR2 robot which has a Ki

Does tf support drone? I have an IF750 drone and and I want to use a camera with a gimbal in it. Since drone uses GPS (l

How to control drone's camera gimbal from software/code I am working with an IF750 drone and I want to control the drone

I need to open and close the gripper of PR2. I did not find any option to do that in python. From this tutorial, I found these functions:

void openGripper(trajectory_msgs::JointTrajectory& posture)
{
  // BEGIN_SUB_TUTORIAL open_gripper
  /* Add both finger joints of panda robot. */
  posture.joint_names.resize(2);
  posture.joint_names[0] = "panda_finger_joint1";
  posture.joint_names[1] = "panda_finger_joint2";

  /* Set them as open, wide enough for the object to fit. */
  posture.points.resize(1);
  posture.points[0].positions.resize(2);
  posture.points[0].positions[0] = 0.04;
  posture.points[0].positions[1] = 0.04;
  posture.points[0].time_from_start = ros::Duration(0.5);
  // END_SUB_TUTORIAL
}


void closedGripper(trajectory_msgs::JointTrajectory& posture)
{
  // BEGIN_SUB_TUTORIAL closed_gripper
  /* Add both finger joints of panda robot. */
  posture.joint_names.resize(2);
  posture.joint_names[0] = "panda_finger_joint1";
  posture.joint_names[1] = "panda_finger_joint2";

  /* Set them as closed. */
  posture.points.resize(1);
  posture.points[0].positions.resize(2);
  posture.points[0].positions[0] = 0.00;
  posture.points[0].positions[1] = 0.00;
  posture.points[0].time_from_start = ros::Duration(0.5);
  // END_SUB_TUTORIAL
}

Could anyone provide a simple example of how to call these functions from python? I do not how to wrap python with C++ and I did not find any straightforward tutorial for ROS. The panda_finger_joint1 should be replaced by PR2's joint though which I think is _gripper_joint.