JenniferBuehler
commented
4 years ago Hello! I'm glad the packages help you :) The obstacle should actually only get stuck when the gripper is "gripping" the obstacle from two sides... can you post a screenshot of how you are pushing the obstacle?
It would be easy to disable the plugin via service call, but such a service call hasn't been implemented for the plugin yet... however you could just extend it yourself, just make a flag (which is set true upon service call) and return in OnUpdate if it is set to true (maybe in the service call, detach all already attached objects).
I wouldn't permanently integrate any solution which uses ros services in the plugin, because it's meant to be ROS agnostic. A Gazebo service call / subscriber would be OK however. But then you'd have to wrap this gazebo service request into a ROS node which offers a ROS service, which is a bit more workaround. If you just want a quick solution, I suggest you just put a ROS service client into the plugin and set the flag in the service callback. Then you should have a working solution pretty quickly.
Hope this helps!
Hello ! At first, thanks a lot for your works, it helps me a lot ! I'm actually working on a gazebo project in order to grasp and push objects. I'm using your plugin for the gasp function but i got a problem: When i try to push an object, this object stay glue to the gripper because of this plugin. I would like to know if it's possible (or not) to disable a plugin when i'm executing the script and how to do it (maybe with a service...) ?
I'm working with an UR5 and a gripper85 and I got melodic version of Ubuntu.
Any help will be appreciated and thank in advance. Jordan