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[ros2] Port vacuum gripper to ROS2 #960
Migration guide at ROS 2 Migration: Vacuum Gripper
chapulina left a comment
I was testing the demo world, and it behaves quite strangely. This is just speeding up the simulation (on left panel, set
I think the problem comes from the ROS 1 plugin, so it's not introduced by this pull request. Sorry I didn't know of those problems beforehand
The ARIAC competition wrote their own vacuum gripper plugin to work around the limitations of the plugin in
How do you feel about porting that plugin to
I think it's also valid for us to decline this PR, and mark the vacuum gripper as deprecated for now, since it doesn't really work. And in the future, if users come looking for it, someone else could port a better version like ARIAC's to work here.
Nothing moves in the demo world for me, does it move for you?
I saw you removed the min and max distances. I'm ok removing the min, but without the max, it means that the gripper will be applying tiny forces to objects really far away, which I'm not sure we want. Also, using
Haha no I didn't. Sorry about that, I just needed some
Did you give some thought to the max distance? Right now the demo gripper can pull spheres from any distance. I placed one of the spheres 100m away and it was gripped.
It would also be interesting to keep using