Show EOL distros:
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Author: Stuart Glaser
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/tags/pr2_controllers-1.4.0
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/branches/pr2_controllers-1.6
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/trunk
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/trunk
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/PR2/pr2_controllers.git (branch: hydro-devel)
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: indigo-devel)
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: kinetic-devel)
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Package Summary
The pr2_gripper_action provides an action interface for using the gripper. Users can specify what position to move to (while limiting the force) and the action will report success when the position is reached or failure when the gripper cannot move any longer.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Contents
Users interested in grasping more delicate objects may want to checkout the alternative pr2_gripper_sensor_action package.
Usage
You can see an example of using the pr2 gripper action on the PR2 in the Moving the Gripper tutorial.
ROS API
The ROS API consists of three parts: private parameters, an action server that achieves gripper goals, and an interface to the gripper controller.
The Moving the Gripper tutorial provides more context on how the action and controller are launched and how action goals are interpreted.
Parameters
Parameters
~goal_threshold (double, default: 0.01)- The distance from the desired position at which the result is considered successful.
- The amount of time (in seconds) the joint must be stationary to be considered a stall.
- Parameter used when stall velocity oscillates (e.g. simulation jitter).
Action interface
Subscribed Topics
~gripper_action/goal (pr2_controllers_msgs/Pr2GripperCommandActionGoal)- The position/force for the gripper to achieve.
- A request to stop trying to move the gripper.
Published Topics
~gripper_action/status (actionlib_msgs/GoalStatusArray)- Provides status information on the goals that are sent to the action action.
- Describes why the gripper stopped (stalled or reached the final position).
Controller interface
Subscribed Topics
~state (pr2_controllers_msgs/JointControllerState)- Listens to the state of the controller.
Published Topics
~command (pr2_controllers_msgs/Pr2GripperCommand)- Sends grip commands to the controller.