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Overview

The gripper controller provides an interface for sending position setpoints limited by a maximum effort. You may want to connect a pr2_gripper_action to make the gripper easier to command.

ROS API

Parameters

joint (string, default: Required)

• The joint to control

pid/p (double, default: Required)

• The position gain for the controller

pid/i (double, default: 0.0)

• The integral gain on position

pid/i_clamp (double, default: 0.0)

• The clamp on the integral gain

pid/d (double, default: 0.0)

• The velocity gain of the controller

Subscribed Topics

command (pr2_controllers_msgs/Pr2GripperCommand)

• Accepts set point commands

Published Topics

state (pr2_controllers_msgs/JointControllerState)

• Reports the current state of the controller.

Example Configuration

r_gripper_controller:
  type: Pr2GripperController
  joint: r_gripper_joint
  pid:
    p: 1000.0