Gripper Details

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Introduction

Before using an End-Effector, or Gripper, you must first send the calibration command. You can check whether the gripper has been calibrated yet by echoing on the gripper state topic for that hand. Once calibrated, gripper can be controlled using the simplified command_grip and command_release topics, or using the more direct command_set topic.

For more information on using the gripper, see the Gripper Example Program.

Gripper Configuration

(intera_core_msgs-IOComponentCommand)

Calibrate Gripper

  • Publish an IO Command message to calibrate a new gripper by set signal calibrate to True. Gripper should open and close once.
  • The calibrated field of the gripper state topic will also update to '1' after successful calibration.
  • Once calibrated, the gripper will not calibrate again unless the command reset message is sent, or the robot is restarted.

Reset Gripper

  • Publish an IO Command message to reset the gripper state by set signal reboot to True.
  • The calibrated field of the gripper state message will reset to '0'.

Gripper State

Gripper State
/io/end_effector/state

  • The io signal calibrated field must be true (1) before you can control the gripper. Use the IO command to calibrate the gripper.
  • The gripper state message will also give you the current position, force, and if the gripper is current moving. Position is from [0.0-100.0] [close-open].

Simple Gripper Control

Simple Gripper Close
/io/end_effector/command the signal 'position_m' value to MIN_POSITION: 0.0

  • Publish an IO Command message to grip.

Simple Gripper Open
/io/end_effector/command the signal 'position_m' value to MAX_POSITION: 0.041667

  • Publish an IO Command message to release.