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Hi again,

I have compiled separately the ARIAC competition vacuum gripper plugin and I am using the following .xacro configuration:

<?xml version="1.0"?>
<robot xmlns:xacro="">

<xacro:macro name="create_vacuum_gripper" params="wrist_link link_no *origin">

  <joint name="vacuum_gripper_joint_${link_no}" type="revolute">
    <xacro:insert_block name="origin" />

    <axis xyz="0 0 1" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
    <parent link="${wrist_link}" />
    <child link="vacuum_gripper_link_${link_no}" />

    <dynamics damping="0.0" friction="0.0"/>

  <link name="vacuum_gripper_link_${link_no}">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <inertia ixx="0.0000063" ixy="0" ixz="0"
               iyy="0.0000063" iyz="0"
               izz="0.000025" />
      <mass value="0.01" />

      <origin xyz="0 0 0" rpy="0 0 0" />
        <cylinder radius="0.05" length="0.01" />
      <material name="SomeColor">
        <color rgba="1.0 0.0 0.0 1.0"/>

      <origin xyz="0 0 0" rpy="0 0 0"/>
        <cylinder radius="0.05" length="0.01"/>

  <gazebo reference="vacuum_gripper_link_${link_no}">

    <plugin name="ros_vacuum_gripper" filename="">



    <!--plugin name="gazebo_ros_vacuum_gripper" filename="">



and then to use the above, I am using the following lines in my main .xacro

<xacro:create_vacuum_gripper wrist_link="${prefix}carriage" link_no="1">
    <origin xyz="-0.001 0 0.9" rpy="${90 * 0.0174533} 0 1.5708" />

Whichever plugin I use (gazebo_ros_vacuum_gripper or ros_vacuum_gripper), I cannot secure a box object... :( Please if you have any ideas how these plugins work let me know.

Thank you!