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How to enable/disable plugin when you are executing a Python script ?

asked 2020-05-27 20:30:31 -0600

Hello !

I'm actually working on a Gazebo project but i can't fine an answer at my question : Is it possible to enable/disable a plugin in Python when you are executing a script ?

I created a simple script to "pick and place" object in Gazebo but the object always slide out from the gripper. So, I used a plugin which fixed that problem by attaching the origin from gripper to the object when they are in collisions during few seconds. This is the link of the plugin : https://github.com/jenniferBuehler/ga... Now i want to add a push function to my script but when you are pushing, Gazebo will attach object to the gripper. I would like to know if it's possible to enable/disable this plugin (by a service or whatever) during execution to fix that issue.

I'm working with an UR5 and a gripper85 and I got melodic version of Ubuntu.

Any help will be appreciated and thank in advance. Jordan

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answered 2020-06-02 05:53:01 -0600

tartaglia gravatar image

yes you can write a ros service in the plugin to set some flags or do stuff in a callback

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Asked: 2020-05-27 20:30:31 -0600

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Last updated: Jun 02