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frankaemika / franka_ros

ROS integration for Franka research robots
https://frankaemika.github.io
Apache License 2.0
364 stars 312 forks source link

Don't set vel or eff for gripper joints #335

Closed gavanderhoorn closed 1 year ago

gavanderhoorn commented 1 year ago

Context: frankaemika/franka_ros#334.

See discussion there and / or the commit comment.

I've unfortunately not tested this, just wanted to provide a start.

marcbone commented 1 year ago

Thx for the PR. However, this wont do much since this node is only used when you start the franka_visualization launch file (only few people do that). You also need to change it in the gripper node. Further, somebody should check what the current behavior in gazebo is :sweat_smile:

gavanderhoorn commented 1 year ago

I could add the changes to franka_gripper, but I won't have time to analyse the gazebo plugin.

Let me know whether you'd rather I close this PR.

gavanderhoorn commented 1 year ago

Closing, as it's incomplete.

Perhaps it helps future contributors.