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<gripper> tag (gazebo::physics::Gripper) doesn't create the fixed joint between the gripper and the object within it

asked 2013-09-13 12:59:23 -0600

Francisco gravatar image

updated 2013-09-13 12:59:53 -0600

I have been trying to use the <gripper> tag in my urdf robot like this:

<gazebo>
    <gripper name="grasping">
        <grasp_check>
            <attach_steps>20</attach_steps>
            <detach_steps>40</detach_steps>
            <min_contact_count>1</min_contact_count>
        </grasp_check>
        <gripper_link>r_finger_link</gripper_link>
        <gripper_link>l_finger_link</gripper_link>
        <palm_link>gripper_base</palm_link>
    </gripper>
</gazebo>

I have checked the corresponding code and it's loaded properly. The problem is that the Gripper::OnContact function is never called, therefore the fixed joint between the gripper and the object within the gripper will never be created.

Contact points

The contacts do exist as can be seen in the figure. Additionally when I use a ContactSensor like the libgazebo_ros_bumper.so plugin I also detect such contacts.

Has somebody run with the same problem?

I'm working with gazebo-1.9.1, ros-groovy and gazebo_ros_pkg

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answered 2013-09-14 17:39:18 -0600

nkoenig gravatar image
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Thanks Nate! That works, although it takes a while (~ 5 sec.) to attach and detach the object. I guess it's a matter of playing with the attach_steps and detach_steps and maybe to relax the attach condition

Francisco gravatar imageFrancisco ( 2013-09-19 10:57:07 -0600 )edit
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Asked: 2013-09-13 12:59:23 -0600

Seen: 2,482 times

Last updated: Sep 14 '13