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xArm-Developer / xarm_ros2

ROS2 developer packages for robotic products from UFACTORY
https://www.ufactory.cc/pages/xarm
BSD 3-Clause "New" or "Revised" License
115 stars 72 forks source link

Object grasping problem #38

Open klima7 opened 1 year ago

klima7 commented 1 year ago

I'm facing strange problem with grasping objects. On the video bellow You can see what is happening. I'm controlling arm with Moveit.

https://github.com/xArm-Developer/xarm_ros2/assets/52660101/b47db6e4-4f4a-449c-a684-8c004c389708

The problem is that parts of gripper are disconnecting when it is closing. Do you have any tested way to grasp object? What I'm doing wrong?

klima7 commented 1 year ago

I see that in xarm_ros repo gazebo_grasp_fix plugin is used to grasp objects. Aren't there any alternatives for ROS 2?

penglongxiang commented 1 year ago

It seems this plugin is not compatible with ROS2 yet, currently we have not found a good solution for this issue. Will keep an eye on it.