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I cannot make gazebo_ros_vacuum_gripper plugin to work. Please help

Hello,

I have a vacuum gripper and I am trying to attach the gazebo_ros_vacuum_gripper plugin to make it work but without any success so far.

My .xacro configuration is as follows:

<joint name="${prefix}rotary_to_carriage_joint" type="prismatic">
  <parent link="${prefix}rotary"/>
  <child link="${prefix}carriage"/>
  <origin rpy="0 1.5708 0" xyz="-0.685 0 0.064"/>

  <limit effort="30" velocity="1" lower="0.0" upper="0.75" />
</joint>

<link name="${prefix}carriage">
  <gravity>0</gravity>
  <inertial>
    <mass value="2.524"/>
    <origin rpy="0 0 0" xyz="-0.1832 0.0 0.813"/>
    <inertia ixx="0.024" ixy="0.0" ixz="0.083" iyy="0.569" iyz="0.0" izz="0.555"/>
  </inertial>
  <collision>
<origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
  <visual>
    <origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="Blue">
      <color rgba="0.0 0.0 0.4 1.0"/>
    </material>
  </visual>
</link>

<gazebo>
  <plugin name="gazebo_ros_vacuum_gripper" filename="libgazebo_ros_vacuum_gripper.so">
    <robotNamespace>/</robotNamespace>
    <bodyName>${prefix}carriage</bodyName>
    <topicName>grasping</topicName>
    <maxForce>20</maxForce>
    <maxDistance>0.10</maxDistance>
<minDistance>0.01</minDistance>
  </plugin>
</gazebo>

So with that configuration and by using rosservice call /on "{}" and rosservice call /off "{}" to activate deactivate suction, nothing happens and a target item (box) is not gripped. does this plugin supports "prismatic" joints or it is mate only for "revolute" joints?

Any help would be greatly appreciate it! Thank you.

I cannot make gazebo_ros_vacuum_gripper plugin to work. Please help

Hello,

I have a vacuum gripper and I am trying to attach the gazebo_ros_vacuum_gripper plugin to make it work but without any success so far.

My .xacro configuration is as follows:

<joint name="${prefix}rotary_to_carriage_joint" type="prismatic">
  <parent link="${prefix}rotary"/>
  <child link="${prefix}carriage"/>
  <origin rpy="0 1.5708 0" xyz="-0.685 0 0.064"/>

  <limit effort="30" velocity="1" lower="0.0" upper="0.75" />
</joint>

<link name="${prefix}carriage">
  <gravity>0</gravity>
  <inertial>
    <mass value="2.524"/>
    <origin rpy="0 0 0" xyz="-0.1832 0.0 0.813"/>
    <inertia ixx="0.024" ixy="0.0" ixz="0.083" iyy="0.569" iyz="0.0" izz="0.555"/>
  </inertial>
  <collision>
<origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
  <visual>
    <origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="Blue">
      <color rgba="0.0 0.0 0.4 1.0"/>
    </material>
  </visual>
</link>

<gazebo>
  <plugin name="gazebo_ros_vacuum_gripper" filename="libgazebo_ros_vacuum_gripper.so">
    <robotNamespace>/</robotNamespace>
    <bodyName>${prefix}carriage</bodyName>
    <topicName>grasping</topicName>
    <maxForce>20</maxForce>
    <maxDistance>0.10</maxDistance>
<minDistance>0.01</minDistance>
  </plugin>
</gazebo>

So with that configuration and by using rosservice call /on "{}" and rosservice call /off "{}" to activate deactivate suction, nothing happens and a target item (box) is not gripped. does Does this plugin supports "prismatic" joints or it is mate only for "revolute" joints?

Any help would be greatly appreciate it! Thank you.

I cannot make gazebo_ros_vacuum_gripper plugin to work. Please help

Hello,

I have a vacuum gripper and I am trying to attach the gazebo_ros_vacuum_gripper plugin to make it work but without any success so far.

My .xacro configuration is as follows:

<joint name="${prefix}rotary_to_carriage_joint" type="prismatic">
  <parent link="${prefix}rotary"/>
  <child link="${prefix}carriage"/>
  <origin rpy="0 1.5708 0" xyz="-0.685 0 0.064"/>

  <limit effort="30" velocity="1" lower="0.0" upper="0.75" />
</joint>

<link name="${prefix}carriage">
  <gravity>0</gravity>
  <inertial>
    <mass value="2.524"/>
    <origin rpy="0 0 0" xyz="-0.1832 0.0 0.813"/>
    <inertia ixx="0.024" ixy="0.0" ixz="0.083" iyy="0.569" iyz="0.0" izz="0.555"/>
  </inertial>
  <collision>
<origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
  <visual>
    <origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="Blue">
      <color rgba="0.0 0.0 0.4 1.0"/>
    </material>
  </visual>
</link>

<gazebo>
  <plugin name="gazebo_ros_vacuum_gripper" filename="libgazebo_ros_vacuum_gripper.so">
    <robotNamespace>/</robotNamespace>
    <bodyName>${prefix}carriage</bodyName>
    <topicName>grasping</topicName>
    <maxForce>20</maxForce>
    <maxDistance>0.10</maxDistance>
<minDistance>0.01</minDistance>
  </plugin>
</gazebo>

So with that configuration and by using rosservice call /on "{}" and rosservice call /off "{}" to activate deactivate suction, nothing happens and a target item (box) is not gripped. Does this plugin supports "prismatic" joints or is it is mate made only for "revolute" joints?

Any help would be greatly appreciate it! Thank you.

I cannot make gazebo_ros_vacuum_gripper plugin to work. Please help

Hello,

I have a vacuum gripper and I am trying to attach the gazebo_ros_vacuum_gripper plugin to make it work but without any success so far.

My .xacro configuration is as follows:

<joint name="${prefix}rotary_to_carriage_joint" type="prismatic">
  <parent link="${prefix}rotary"/>
  <child link="${prefix}carriage"/>
  <origin rpy="0 1.5708 0" xyz="-0.685 0 0.064"/>

  <limit effort="30" velocity="1" lower="0.0" upper="0.75" />
</joint>

<link name="${prefix}carriage">
  <gravity>0</gravity>
  <inertial>
    <mass value="2.524"/>
    <origin rpy="0 0 0" xyz="-0.1832 0.0 0.813"/>
    <inertia ixx="0.024" ixy="0.0" ixz="0.083" iyy="0.569" iyz="0.0" izz="0.555"/>
  </inertial>
  <collision>
<origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
  <visual>
    <origin rpy="0 0 0" xyz="-0.65 0 0.75"/>
    <geometry>
      <mesh filename="package://meshes/carriage.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="Blue">
      <color rgba="0.0 0.0 0.4 1.0"/>
    </material>
  </visual>
</link>

<gazebo>
  <plugin name="gazebo_ros_vacuum_gripper" filename="libgazebo_ros_vacuum_gripper.so">
    <robotNamespace>/</robotNamespace>
    <bodyName>${prefix}carriage</bodyName>
    <topicName>grasping</topicName>
    <maxForce>20</maxForce>
    <maxDistance>0.10</maxDistance>
<minDistance>0.01</minDistance>
  </plugin>
</gazebo>

So with that configuration and by using rosservice call /on "{}" and rosservice call /off "{}" to activate deactivate suction, nothing happens and a target item (box) is not gripped. Does this plugin supports "prismatic" joints or is it made only for "revolute" joints?

Any help would be greatly appreciate it! Thank you.