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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) pid/p (double, default: Required) pid/i (double, default: 0.0) pid/i_clamp (double, default: 0.0) pid/d (double, default: 0.0)

Subscribed Topics

command (pr2_controllers_msgs/Pr2GripperCommand)

Published Topics

state (pr2_controllers_msgs/JointControllerState)

Example Configuration

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

2019-10-19 13:02