Hi,
Some months ago I joined an ongoing project with PR2, ROS and Gazebo. We're facing problems when trying to move the PR2 gripper and I would like to confirm some doubts with you.
I'm using pr2_simulation package for ROS kinetic. I see that the pr2_gripper_controllers contains just one joint for right_arm(https://github.com/PR2/pr2_simulator/blob/kinetic-devel/pr2_controller_configuration_gazebo/config/pr2_gripper_controllers.yaml).
r_gripper_controller:
type: pr2_mechanism_controllers/Pr2GripperController
joint: r_gripper_joint
pid: &gripper_position_gains
p: 10000.0
d: 1000.0
Following the next tutorial(https://github.com/ros-planning/moveit_tutorials/blob/kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp), gripper doesn't move. I see that several joints are passed to open the gripper:
posture.joint_names.resize(6);
posture.joint_names[0] = "r_gripper_joint";
posture.joint_names[1] = "r_gripper_motor_screw_joint";
posture.joint_names[2] = "r_gripper_l_finger_joint";
posture.joint_names[3] = "r_gripper_r_finger_joint";
posture.joint_names[4] = "r_gripper_r_finger_tip_joint";
posture.joint_names[5] = "r_gripper_l_finger_tip_joint";
Could it be a problem in Gazebo? I should only send to gazebo positions for the r_gripper_joint?
Regards.
↧
