Add velocity to gripper command #99
Conversation
pac48
force-pushed
the
pr-add-gripper-velocity-target-main
branch
from
8d6f801
to
b891826
Compare
pac48
force-pushed
the
pr-add-gripper-velocity-target-main
branch
from
b891826
to
cbf637d
Compare
| bool stalled # True iff the gripper is exerting max effort and not moving | ||
| bool reached_goal # True iff the gripper position has reached the commanded setpoint |
There was a problem hiding this comment.
Is there value in reporting reached_goal or stalled in the feedback topic? If the feedback was a JointState the caller could inspect the joint velocity and I would suggest changing reached_goal to something like percent complete over a bool.
There was a problem hiding this comment.
I am not sure why those are here. I can actually understand stalled because some users might want to monitor stalled and send a cancel goal after it has been stalled too long. But I don't know why the goal term would be in the feedback.
There was a problem hiding this comment.
I vote we remove both of these options from the feedback topic.
pac48
force-pushed
the
pr-add-gripper-velocity-target-main
branch
2 times, most recently
from
b8d4e2d
to
1f4905a
Compare
pac48
changed the title
target_velocity to gripper command
| # position refers to the gap size (in meters). | ||
| # Optional: velocity refers to the Cartesian velocity of the finger right finger. | ||
| # effort refers to the current effort exerted (in Newtons) |
There was a problem hiding this comment.
| # position refers to the gap size (in meters). | |
| # Optional: velocity refers to the Cartesian velocity of the finger right finger. | |
| # effort refers to the current effort exerted (in Newtons) | |
| # position refers to the position of each joint (radians or meters). | |
| # Optional: velocity of each joint (radians or meters / Second). | |
| # Optional: effort of each joint (Newtons or Newton-meters) |
As we discussed I don't think it makes sense to command distance between the fingers because its not a physical joint on the robot and the result can be interpenetrated in many different ways (especially if the user is able to manufacture custom fingers).
| bool stalled # True iff the gripper is exerting max effort and not moving | ||
| bool reached_goal # True iff the gripper position has reached the commanded setpoint |
There was a problem hiding this comment.
I vote we remove both of these options from the feedback topic.
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
pac48
force-pushed
the
pr-add-gripper-velocity-target-main
branch
from
1f4905a
to
1b36b4f
Compare
|
@MarqRazz Okay, I removed the extra fields from the feedback topic and updated the comments |
Co-authored-by: Marq Rasmussen <marq.razz@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
|
@Mergifyio backport to humble |
❌ No backport have been created
GitHub error:
|
(cherry picked from commit d4be560)
Many robot grippers support effort, position, and velocity controls. The current technique to set the velocity involves reading a hardcoded value from the URDF. This is problematic when the user wants to change the gripper velocity at runtime. I propose a new gripper action message that supports a target_velocity field.
This PR is related to the controller developed in ros-controls/ros2_controllers#1002