Question about 'Low Level Controllers (gripper section)'

[seoulstudent]

Dear Sir,

I'd like to ask you a question about moveit tutorial 'Low Level Controllers (gripper section)' (http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/controller_configuration/controller_configuration_tutorial.html)

I wrote as follows 'controllers.yaml' file in 'moveit config' launch file

name: hand_controller action_ns: gripper_action type: GripperCommand default: true parallel: true joints: panda_finger_joint1 panda_finger_joint2

Then, I wrote 'my robot controller.yaml file' as follows.

hand_controller: type: position_controllers/GripperActionController joints:

• panda_finger_joint1
• panda_finger_joint2 ...(omit below)

I expected a connection between moveit and gazbo's gripper controller, just like panda_arm_controller (FollowJointTrajectory)

However, moveit and gazbo's controller are not connected.

I want to use gripper in Gazebo or Real robot by moveit.

I would appreciate it if you could send me some advice

Your environment

• ROS Distro: Kinetic
• OS Version: Ubuntu 16.04
• Source or Binary build? Source
• If binary, which release version?
• If source, which git commit or tag? Kinetic version

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[v4hn]

Well, what topics did you get? check leaf topics, e.g., via rqt_graph.

 action_ns: gripper_action

From the source it looks like the controller advertises gripper_cmd instead.

[seoulstudent]

Dear @v4hn

Thank you for your prompt reply. Your advice is correct! I'd like to ask you one more question.

'GripperActionController' only use one joint. Even if Moveit sends two joints value (panda_finger_joint1&panda_finger_joint2) only one can be used.

Also, FollowJointTrajectory doesn't get along with moveit_msgs::Grasp.
(https://answers.ros.org/question/287516/pick-and-place-execution-in-simulation_solution-found-but-controller-failed-during-execution/)

I would appreciate it if you could send me some advice. (If I want to use moveit_msgs::Grasp, should I make 'custom' ros_controller?)

[seoulstudent]

If you are solving the same problem as me, please refer to the following link. https://github.com/Kinovarobotics/kinova-ros/blob/master/kinova_control/config/j2s6s300_control.yaml