Integrate gripper joint angle status feedback into joint state publisher

UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK

BSD 2-Clause "Simplified" License

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Integrate gripper joint angle status feedback into joint state publisher #16

Closed dmcconachie closed 7 years ago

dmcconachie commented 7 years ago

Right now the gripper_status messages have a 0 to 1 value; this needs to be translated to the correct joint angle in radians and published alongside the other joint states inside of wiktor_hardware_interface/scripts/joint_state_publisher.py

ruikunl commented 7 years ago

update the joint_state_publisher.py, change the robotiq_3finger_gripper.xacro file for the joint limit of the finger.