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gripper_sim

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][std_msgs-ROS1/Subscriber]

gripper_sim_attach.cb

center

Empty [std_msgs-ROS1/Subscriber][std_msgs-ROS1/Subscriber]

gripper_sim_center.cb

gripper_sensor

LaserScan [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber]

global/Callback/gripper_sim_sensor_feedback.cb

loop

TF [movai_msgs-ROS1/TFSubscriber][movai_msgs-ROS1/TFSubscriber]

gripper_sim_loop.cb

loop_gripper_hand

TF [movai_msgs-ROS1/TFSubscriber][movai_msgs-ROS1/TFSubscriber]

gripper_hand_sim_loop.cb

trans_in

Transition [movai_msgs-MovAI/TransitionTo][movai_msgs-MovAI/TransitionTo]

place_holder.cb

Output List

There are 8 parameters.

Port Name

Message type

attach_action

Float64 [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

center_action

Float64 [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

center_sensor

Bool [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

center_state

Float64 [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

down_limit

Bool [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

force_confirmation

Bool [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

gripper_inductive_sensor

Bool [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher]

roller_switch_detect

Bool [std_msgs-ROS1/Publisher][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

More Info