The gazebo_gripper_action_controller is a ROS control gripper action controller designed for Gazebo simulation environments. This controller has been derived from the original ros_controllers repository with specific modifications to enhance its functionality.
- The stalling detection mechanism has been improved. Instead of relying on stall velocity thresholds, this version uses a position threshold approach. This provides better reliability since velocity data can be noisier.
- The traditional behavior of the controller, which caused actions to fail upon stalling, has been adjusted. Now, actions will succeed when stalling occurs, making it more convenient for picking objects in MoveIt.
To integrate the GazeboGripperActionController into your ros_control configuration, follow these steps:
- Navigate to your controller config yaml file. If you use
moveit_setup_assistant, this would be in<your_moveit_config_pkg>/config/gazebo_controllers.yaml.
gripper_controller: # Your controller name
type: position_controllers/GazeboGripperActionController # Name of the controller type
joint: finger_joint # The joint you are controlling
goal_tolerance: 0.1 # Goal tolerance in radians
stall_position_threshold: 0.05 # Tune to fit your robot # Arm is stalling if position (radians) hasn't moved over the threshold
stall_timeout: 0.5 # Arm has stalled if timeout (seconds) is reached
action_monitor_rate: 10 # Frequency (in Hz) at which the action goal status is monitored