Closed sguttikon closed 2 years ago
Do you get this error in gazebo or on the real robot? In gazebo, I inserted some sanity checks in the prepareSwitch method to make sure you dont start malformed controllers. If you modify the urdf to contain an additional joint this will no longer work.
Hi @marcbone,
Yes i am facing this error in franka_gazebo pkg. I want to modify the default gripper (something similar to as seen in image) so got rid of franka_gazebo/FrankaGripperSim
controller and related code for prismatic movement in related files.
My custom gripper looks something similar as follows.
======panda_gazebo.xacro======
.....
<link name="${arm_id}_leftfinger_base">
<visual>
<geometry>
<box size="0.01 0.01 0.04"/>
</geometry>
</visual>
</link>
<joint name="${arm_id}_finger_base_joint1" type="fixed">
<parent link="${arm_id}_hand"/>
<child link="${arm_id}_leftfinger_base"/>
<origin xyz="0 0.05 0.075" rpy="0 0 0"/>
</joint>
<link name="${arm_id}_leftfinger">
<visual>
<geometry>
<box size="0.01 0.01 0.04"/>
</geometry>
</visual>
</link>
<joint name="${arm_id}_finger_joint1" type="revolute">
<parent link="${arm_id}_leftfinger_base"/>
<child link="${arm_id}_leftfinger"/>
<origin xyz="0.01 -0.005 0.03" rpy="${pi/10} 0 0"/>
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
If you modify the urdf to contain an additional joint this will no longer work.
=> is there any trick to make the above code working ?
As we intentionally disallowed this case, you will be on your own implementing what you want. However, I can give you a few pointers for the start:
@marcbone thank you for the helping with the hints.
@suresh-guttikonda consider closing this ticket when it solved your problem
Hi,
I wanted to get the opinion of the developers and the community on using custom franka gripper fingers- in my use case i want to have fingers with additional revolute joint to pick objects instead of default fingers. I tried to modify sections of code related to
hand/gripper
in hand.xacro, panda_gazebo.xacro and was usingeffort_controllers/JointPositionController
for the revolute joints but I am facing the following error. My question is does the franka_ros is additionally overriding the controller code?Thanks in advance