Closed KaikeWesleyReis closed 4 years ago
@KaikeWesleyReis
You will only need to modify the elements you give to the addTool function (relative position and max&min gripper limit). Remove all the other modifications you made on the file and test it again.
Basically, we do not support users' own customised robots, so in this kind of case, you might want to compare om-pro.cpp file and om.cpp file (for the om-x model) and figure out what you have to change to build your own program on your own.
Regards, Ryan
@rjshim Hi rjshim, I made the changes that you said, but I have some doubts about your gripper, could you please tell me:
1.0, // Change unit from meter to radian
in addTool? There is other options?@rjshim thanks for your help!
I made the changes in addTool
function open_manipulator_pro.cpp
for my custom gripper that generates some strange values in joint_state topic. The solution was to send a command through one of your service (goal_control) for my gripper that normalize the results!
It is solved.
@KaikeWesleyReis
Great! Please close your issue if you don't have any relevant questions anymore. I will close this issue this time. Ryan
Hello engineers! I'm trying to insert a custom gripper in OpenManipulator-PRO. This custom gripper is a MX-28 Dynamixel with FR07-G101GM-Set. First, some statements:
Second, what I made? Following this other issue for OpenManipulator, I tried to insert my gripper as a new joint called joint7 because function addTool does not have a rotation axis argument (my gripper rotates in this y-axis). For this, I changed this code
open_manipulator_pro_libs/open_manipulator_pro.cpp
:Insert the new joint in function
initOpenManipulator
In the same function, added a new
jointDxlId.push_back(7)
When I launch
open_manipulator_pro_controller.launch
with or without MoveIt! (I made a specific package for this customization, where group arm have now seven joints) the /open_manipulator_pro/joint_states for my new gripper is equal for 63935.53125 regardless his position (manually changing). I want to know what I'm doing wrong and why this higher value for my joint_state.Best regards from Brazil,