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husky / husky_simulator

Simulator packages for the Clearpath Husky for Indigo & prior. For kinetic, visit https://github.com/husky/husky
http://wiki.ros.org/Robots/Husky
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Gripper and roscontrol fix #23

Closed k-okada closed 8 years ago

k-okada commented 8 years ago

@TheDash

Why you did not merge this wonderful feature to the main branch?

@cretaceous-creature, @cretaceous-creature

cretaceous-creature commented 8 years ago

Okada sensei, I also don't know why the pr2 gripper fail to work with the controller. Thank you very much for telling me how to fix it.

2016年1月13日水曜日、Kei Okadanotifications@github.comさんは書きました:

@TheDash https://github.com/TheDash

Why you did not merge this wonderful feature to the main branch?

@cretaceous-creature https://github.com/cretaceous-creature,

@cretaceous-creature https://github.com/cretaceous-creature

You can view, comment on, or merge this pull request online at:

https://github.com/husky/husky_simulator/pull/23 Commit Summary

  • Fixed ros control bug and added gripper params
  • Fix double ros_control inclusion
  • Apparently ur5 isnt problem for ros control double loading
  • Updating to use pr2 controllers instead
  • Added gripper code and updated manipulation worlds
  • Updated demo manipulation paths
  • Updated launch file params

File Changes

Patch Links:

— Reply to this email directly or view it on GitHub https://github.com/husky/husky_simulator/pull/23.

UltronDestroyer commented 8 years ago

I ran out of time on this project.. and now its been so long I'm not sure where i was going with it lol

paulbovbel commented 8 years ago

I don't think this PR is consistent with the current code base, but I'd be happy to review and merge changes to the URDF (and the primary simulation bringup via husky_playpen/spawn_husly.launch) that enable a gripper without breaking anything else.

@ibaranov-cp what's the current story with ros-control and the UR5. Do you end up running two controller managers? We can probably replicate that approach in sim.

ibaranov-cp commented 8 years ago

I am unsure about this PR, but my version for ridgeback + UR10 was using one for each. However, I am far from an expert on this, so better version are definitely possible.

paulbovbel commented 8 years ago

Composable robots is not a feature of ros_control, so needing two controller managers with different rosgraph endpoints is reasonable. Tt was never implemented in this branch, since @TheDash worked on it prior to hardware-UR supporting ros_control (ur modern driver).

k-okada commented 8 years ago

moved to #24