ros-interactive-manipulation / velo_gripper Goto Github PK

Fix names and file locations in velo_controller/diagrams/gripper_control_codeflow.
Create new pdf once changes are made.

Using the robot.launch file fails on the PR2 as the ${side}_gripper_joint and ${side}_gripper_motor_slider_joint both do not have limits provided in the velo.urdf.xacro (the limit lines are commented out). Uncommenting these limits fixes the problem and the software starts correctly.

It would be nice to have the gripper drivers catkinized and released into Hydro.

Are there any big problems we can expect, e.g. pr2_controller_manager?

Enable Safety Controller. Tune gains and set limits. Safety controller information is in:

• velo_description/urdf/velo_v0/velo.urdf.xacro
• velo_bench/urdf/bench_l_gripper.xml
• velo_bench/urdf/bench_r_gripper.xml