But I think the data being sent to the physical gripper actually controls the linear distance between the fingers. Refer to in "Register: POSITION REQUEST Address: Byte 3" on page 42 of the gripper manual
If this is true, what is the units for the "gripper_closed_position". Since it actual refers for the distance between the fingers and not an actual revolute joint.
The revolute joint here specifies a lower and upper limit of 0 and 0.7.
And believe the gripper_closed_position in the xacro file is based on these limits.
But I think the data being sent to the physical gripper actually controls the linear distance between the fingers. Refer to in "Register: POSITION REQUEST Address: Byte 3" on page 42 of the gripper manual
If this is true, what is the units for the "gripper_closed_position". Since it actual refers for the distance between the fingers and not an actual revolute joint.
Reference line of where "gripper_closed_position" is used: https://github.com/PickNikRobotics/ros2_robotiq_gripper/blob/main/robotiq_driver/src/hardware_interface.cpp#L294