Configure gripper speed and effort with hardware interface#1002
Configure gripper speed and effort with hardware interface#1002bmagyar merged 39 commits intoros-controls:masterfrom
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@pac48 can you include a temporary change on this pr to update the I believe that should turn Rolling Semi-Binary Build - main / semi_binary / rolling main (pull_request) green. Once your ros-controls/control_msgs#99 is approved an merged we'll need to update the .repos to pull in |
MarqRazz
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I still need to pull this down and test but here are some high level suggestions.
...pper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
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...pper_controller/include/antipodal_gripper_controller/antipodal_gripper_action_controller.hpp
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| using GripperCommandAction = control_msgs::action::AntipodalGripperCommand; | ||
| using GoalHandle = rclcpp_action::ServerGoalHandle<GripperCommandAction>; |
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Do we need to define these again, they are already in the header antipodal_gripper_action_controller.hpp.
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I think it is needed here because it is defined inside a class in antipodal_gripper_action_controller.hpp
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## master #1002 +/- ##
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- Coverage 71.86% 71.31% -0.56%
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Files 41 41
Lines 3650 3374 -276
Branches 1794 1627 -167
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- Hits 2623 2406 -217
+ Misses 707 667 -40
+ Partials 320 301 -19
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Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
Signed-off-by: Paul Gesel <paulgesel@gmail.com>
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@bmagyar It looks like the renaming to |
bmagyar
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Spotted one last piece of commented code, otherwise looks good!
...r_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp
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…r/parallel_gripper_action_controller_impl.hpp Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
…ith hardware interface (ros-controls#1002)
Backport of ros-controls#1002 to Humble
Many robot grippers support effort, position, and velocity controls. The current technique to set the velocity involves reading a hardcoded value from the URDF. This is problematic when the user wants to change the gripper velocity at runtime. After discussions in the ros2_control WG meeting, the best strategy to achieve this goal while allowing backporting to Humble is to add a new controller that specifically supports this and deprecate the old controller.
This PR adds a controller called
antipodal_gripper_controllerswhich has parameters to optionally claim the hardware interfacesJOINT_NAME/gripper_effortandJOINT_NAME/gripper_speed, which will be used to set the gripper speed and effort if enabled.This PR requires: