Use gripper control as an example of controlling Sawyer's gripper.
Uses the keyboard or joystick to control Sawyer's gripper. Position, velocity, holding, and moving force can be controlled and sensed. Both logitech and xbox game controllers are supported.
The robot should always enabled after start, try the command from an SDK terminal session if the robot is not enabled:
$ rosrun intera_interface robot_enable.py
Start gripper control from an RSDK terminal session:
Gripper keyboard example:
$ rosrun intera_examples gripper_keyboard.py
IMPORTANT: You will have to calibrate gripper before using any of the other commands using C/c commands:
Once calibrated, future calibrate commands will not do anything unless you send a 'reboot' first
Get a list of commands by entering '?'
For gripper keyboard example: key: description 'r': "reboot" 'c': "calibrate" 'q': "close" 'o': "open" '+': "set 100% velocity" '-': "set 30% velocity" 's': "stop" 'h': "decrease holding force" 'j': "increase holding force" 'u': "decrease position" 'i': "increase position"
For gripper joystick example: command: description 'btnLeft': "reboot" 'btnUp': "calibrate" 'leftTrigger': "close" 'leftTrigger': "open (release)" 'leftBumper': "stop" 'leftStickHorz': "decrease position by step when stick value less than 0, increase position by step when stick value larger than 0" 'leftStickVert': "decrease holding force by step when stick value less than 0, increase holding force by step when stick value larger than 0" 'function1' or 'function2': "help"
You can monitor the changes you are making using the following rostopic which you can monitor from a different shell:
$ rostopic echo /robot/end_effector/right_gripper/command