Controller of the Simulated Gripper
Description
Tugbot Central Gripper controller to the Ignition Simulator. This node controls the gripper actions and provides feedback data.
Examples
The following Nodes make use of this node:
Input List
There are 6 parameters.
| Port Name | Message type | Callback |
|---|---|---|
| attach | Bool [std_msgs-ROS1/Subscriber] | gripper_sim_attach.cb |
| center | Empty [std_msgs-ROS1/Subscriber] | gripper_sim_center.cb |
| gripper_sensor | LaserScan [sensor_msgs-ROS1/Subscriber] | global/Callback/gripper_sim_sensor_feedback.cb |
| loop | TF [movai_msgs-ROS1/TFSubscriber] | gripper_sim_loop.cb |
| loop_gripper_hand | TF [movai_msgs-ROS1/TFSubscriber] | gripper_hand_sim_loop.cb |
| trans_in | Transition [movai_msgs-MovAI/TransitionTo] | place_holder.cb |
Output List
There are 8 parameters.
| Port Name | Message type |
|---|---|
| attach_action | Float64 [std_msgs-ROS1/Publisher] |
| center_action | Float64 [std_msgs-ROS1/Publisher] |
| center_sensor | Bool [std_msgs-ROS1/Publisher] |
| center_state | Float64 [std_msgs-ROS1/Publisher] |
| down_limit | Bool [std_msgs-ROS1/Publisher] |
| force_confirmation | Bool [std_msgs-ROS1/Publisher] |
| gripper_inductive_sensor | Bool [std_msgs-ROS1/Publisher] |
| roller_switch_detect | Bool [std_msgs-ROS1/Publisher] |
Parameter List
There are 3 parameters.
| Parameter | Description |
|---|---|
| cart_gripper_distance | Detectable distance of the Gripper Inductive Sensor. GGG |
| center_force | The force (in Newton) applied to the gripper joint to make it move. This force should be more than the attrition defined in the model of the gripper, or else the gripper won't move. Always pay attention to some parameters in your model, such as the max velocity for the joint, as well as the accumulated effort. |
| center_pos_tolerance | Tolerance for the angular position (in radians) of the gripper to be considered centered. Centered = 0.0 +/- tolerance |