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AcutronicRobotics / robotiq_modular_gripper

Robotiq modular grippers description and gazebo pkgs
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Add interpolation and velocity control for 3 grippers #12

Closed nzlz closed 5 years ago

nzlz commented 5 years ago

Note that I had to add a <id> tag to urdf since we need to identify them in the plugin.

Adding static gripping capabilities is WIP on top of this in the rework-with-interp-grip branch.

nzlz commented 5 years ago

Also I have to mention that same as before, hande range goes from 0 to 0.025. Is this happening also in the real gripper? If its different, we should replicate it.

YueErro commented 5 years ago

I will take care of the tag. Unfortunately, on real driver is not the same i believe. This measurements are fine, taken from the real robot.

nzlz commented 5 years ago

We should use same values as in real. We just need to know the max opening value for linear goal in hande.

nzlz commented 5 years ago

I guess add min, max, and radius to the plugin part of the urdf?

rkojcev commented 5 years ago

That is also an option @nzlz

YueErro commented 5 years ago

They are already there (limit).

rkojcev commented 5 years ago

Lets use these values then @nzlz and @YueErro

nzlz commented 5 years ago

We dont have lower velocity limits there. Also, which are the units? I guess revolute rad/s and prismatic m/s?

Also, can we trust these max values? Right now the s85 has a higher max limit in the urdf than the s140, that is incorrect. In the plugin I did the calculation using the radius of the angular movement, which is not a precise value. (measured in gazebo +-)

YueErro commented 5 years ago

The units and limits are these ones, taken from the real grippers, not from the real driver.

YueErro commented 5 years ago

Instead of taking them from the limit tag we can add each min-max tags in the plugin, same as PID values, and in the unit we want.

nzlz commented 5 years ago

Yes i think adding to the plugin part in urdf is the best option.

nzlz commented 5 years ago

Forgot to mention that I removed the id tag since we decided to use the following:

        <min_velocity>X</min_velocity>
        <max_velocity>X</max_velocity>
        <radius>X</radius> <!--Only for revolute joints-->
ahcorde commented 5 years ago

we need to resolve some issues to be able to merge with master @yue or @nzlz can you take care?

nzlz commented 5 years ago

Pushed merge. @YueErro can you review?

Ill test everything again to make sure its working fine.

nzlz commented 5 years ago

Merge master not working. Don't merge. Fix WIP

YueErro commented 5 years ago

The plugin is duplicated. It should be removed from the grippers.urdf.xacro and regenerate the .urdf files.

nzlz commented 5 years ago

PR tests

Example for S140 (revolute, so using angular position, linear is not used) terminal1

ros2 launch robotiq_gazebo robotiq_140.launch.py

Terminal2

ros2 service call /hrim_actuator_gripper_000000000004/fingercontrol hrim_actuator_gripper_srvs/ControlFinger "{goal_linearposition: 0.0, goal_angularposition: 0.0, goal_velocity: 100.0}"