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[Fix] Gripper effort command #46

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merged 2 commits into from
Nov 19, 2018
Merged

[Fix] Gripper effort command #46

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85fc7b5
[fix] gripper effort command
RyodoTanaka Nov 19, 2018
5370743
Fix effort in simple_gripper
MoriKen254 Nov 19, 2018
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4 changes: 2 additions & 2 deletions chapter10/smach_sample/script/smach_pr2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -111,8 +111,8 @@ def pose_cb(userdata, _pr2_move, pose):
init_sub = smach.StateMachine(outcomes=['success'])
with init_sub:
gripper_open = Pr2GripperCommandGoal()
gripper_open.command.position = 0.025
gripper_open.command.max_effort = 2000
gripper_open.command.position = 0.09
gripper_open.command.max_effort = 10.0
smach.StateMachine.add('Open_gripper',
SimpleActionState('/l_gripper_controller/gripper_action',
Pr2GripperCommandAction,
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6 changes: 3 additions & 3 deletions chapter10/smach_sample/src/simple_gripper.cpp
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Expand Up @@ -30,8 +30,8 @@ class Gripper{
//Open the gripper
void open(){
pr2_controllers_msgs::Pr2GripperCommandGoal open;
open.command.position = 0.025;
open.command.max_effort = -1.0; // Do not limit effort (negative)
open.command.position = 0.09;
open.command.max_effort = 10.0; // Do not limit effort (negative)

ROS_INFO("Sending open goal");
gripper_client_->sendGoal(open);
Expand All @@ -46,7 +46,7 @@ class Gripper{
void close(){
pr2_controllers_msgs::Pr2GripperCommandGoal squeeze;
squeeze.command.position = 0.0;
squeeze.command.max_effort = 50.0; // Close gently
squeeze.command.max_effort = 10.0; // Close gently

ROS_INFO("Sending squeeze goal");
gripper_client_->sendGoal(squeeze);
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