Due to the implementation of the recently added velocity control, the finger joint must be placed first in the plugin. In the robotiq case, this has no effect because the current first ones upper limit matches finger joints upper limit. (just a coincidence I guess)
This does not affect us currently, but might in the future. Following the convention of having the control finger first would solve this.
Due to the implementation of the recently added velocity control, the finger joint must be placed first in the plugin. In the robotiq case, this has no effect because the current first ones upper limit matches finger joints upper limit. (just a coincidence I guess)
This does not affect us currently, but might in the future. Following the convention of having the control finger first would solve this.
Note
JointsVec[0]here: https://github.com/AcutronicRobotics/robotiq_modular_gripper/blob/5417c75b205001d3434c5a210d0d597227706d7c/robotiq_gripper_gazebo_plugins/src/RobotiqGripperPlugin.cpp#L21@YueErro @ahcorde