[Bug]: Gripper in position mode doesn't open or close correctly

[sebbyjp]

What happened?

Hi,

The gripper in position mode does not move using the hardware interface. When I send commands to the single_joint topic, it opens for a cmd ~1.0 and closes for a command ~0 However the srdf defines open as 0.037 and close as 0.015 If I change the Open and Close state definitions to 1.0 and 0.0 then moveit thinks that the gripper fingers are 1.0 meters apart when open which breaks the collision planning

The only solution I've come up with is to edit write() in interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_ros_control/src/xs_hardware_interface_obj.cpp with: gripper_msg.cmd = joint_position_commands.back() * 2 * (1.0 / 0.08);

Is this the best solution?

Robot Model

wx250s

Operating System

Ubuntu 18.04

ROS Distro

ROS1 Noetic

Steps To Reproduce

No response

Relevant log output

No response

Anything Else

No response

[lukeschmitt-tr]

If your solution works for you, go ahead and keep using it.

Two questions:

• Are you modifying the read function as well?
• Is the gripper set to position or linear position?

[lukeschmitt-tr]

Closing due to lack of activity. Feel free to reopen if necessary.