add gripper support #24
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| @@ -53,6 +55,12 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI | |||
| <!-- Stow the arm --> | |||
| <node pkg="husky_control" type="stow_ur5" name="stow_ur5"/> | |||
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| <!-- Start the pr2 gripper controller and action server --> | |||
| <group if="$(arg gripper_enabled)"> | |||
| <rosparam command="load" file="$(find husky_control)/config/control_gripper.yaml" /> | |||
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Not seeing this file anywhere
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forget to add see husky/husky#22
| <rosparam command="load" file="$(find husky_control)/config/control_gripper.yaml" /> | ||
| <node name="r_gripper_controller_spawner" pkg="controller_manager" type="spawner" args="r_gripper_controller"/> | ||
| <!-- https://github.com/ros-controls/ros_controllers/pull/181 --> | ||
| <node name="r_gripper_state_publisher" pkg="rostopic" type="rostopic" |
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Why is this necessary? Are these joints not controlled?
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we need to publish joint_states for non actuated joints for moveit
◉ Kei Okada
On Tue, Jan 19, 2016 at 11:23 PM, Paul Bovbel [email protected]
wrote:
In husky_gazebo/launch/spawn_husky.launch
#24 (comment):@@ -53,6 +55,17 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<rosparam command="load" file="$(find husky_control)/config/control_gripper.yaml" /><node name="r_gripper_controller_spawner" pkg="controller_manager" type="spawner" args="r_gripper_controller"/><!-- https://github.com/ros-controls/ros_controllers/pull/181 --><node name="r_gripper_state_publisher" pkg="rostopic" type="rostopic"Why is this necessary? Are these joints not controlled?
—
Reply to this email directly or view it on GitHub
https://github.com/husky/husky_simulator/pull/24/files#r50116885.
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Understood, but does r_gripper_controller not control anything other than r_gripper_l_finger_joint? Are these joints just floating, or is there a mechanism to keep them rigid?
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sending command to r_gripper_controller change all joint in the gripper.
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Understood, so then why is this necessary? Shouldn't the joint state controller publish the states for any controller joints?
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not sure, but maybe there is not transmission for gripper joints
◉ Kei Okada
On Fri, Jan 22, 2016 at 1:02 AM, Paul Bovbel [email protected]
wrote:
In husky_gazebo/launch/spawn_husky.launch
#24 (comment):@@ -53,6 +55,17 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<rosparam command="load" file="$(find husky_control)/config/control_gripper.yaml" /><node name="r_gripper_controller_spawner" pkg="controller_manager" type="spawner" args="r_gripper_controller"/><!-- https://github.com/ros-controls/ros_controllers/pull/181 --><node name="r_gripper_state_publisher" pkg="rostopic" type="rostopic"Understood, so then why is this necessary? Shouldn't the joint state
controller publish the states for any controller joints?—
Reply to this email directly or view it on GitHub
https://github.com/husky/husky_simulator/pull/24/files#r50420034.
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Closing to due inactivity. |
modified/cleanuped version of #23, this requires husky/husky#22