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Feedback of gripper position #178

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Krause92 opened this issue Jul 24, 2020 · 0 comments · May be fixed by #179
Open

Feedback of gripper position #178

Krause92 opened this issue Jul 24, 2020 · 0 comments · May be fixed by #179

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@Krause92
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Hi,

I'm working with the 2f_gripper_action_server. In the Feedback message there is an apparently incorrect calculation of the gripper finger's position:

robotiq/robotiq_2f_gripper_action_server/src/robotiq_2f_gripper_action_server.cpp

Line 66 in 66961ec

result.position = input.gPO * dist_per_tick + params.min_gap_;

if the gripper is fully opened input.gPO is zero. If it is fully closed we got 255.
(see https://assets.robotiq.com/website-assets/support_documents/document/2F-85_2F-140_Instruction_Manual_CB-Series_PDF_20190329.pdf on page 53).

This implies
result.position = params.max_gap_ - input.gPO * dist_per_tick;
for the resulting gipper finger positon.
@Krause92 Krause92 linked a pull request Jul 24, 2020 that will close this issue
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Calculation of position feedback Krause92/robotiq
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@Krause92