The gripper implemented as gazebo model plugin. The intuition of the logic of the package is following:
- get collide gripper and grasp object links
- creates fixed joint between these links
- to attach/detach using ROS-service
- to feedback about ready-to-attach and attaching-state used ROS-topics
git clone https://github.com/kirillin/hook_gripper_gazebo.git
catkin build
Start test gripper world
roslaunch hook_gripper_gazebo test_gripper.launch
Control simple 1-dof using
rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
To get feedback data
rostopic echo /gripper/state
rostopic echo /gripper/ready
To grasp object
rosservice call /gripper/grasp {data: true}
To release object
rosservice call /gripper/grasp {data: false}
MIT License