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Fix gripper mimic joint control #8

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merged 2 commits into from
Aug 24, 2023
Merged

Fix gripper mimic joint control #8

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0463636
Fix gripper mimic joint control
fabid Aug 15, 2023
00c7a6a
Add dummy joint to prevent Joint not found error
fabid Aug 15, 2023
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11 changes: 10 additions & 1 deletion urdf/crane_x7.gazebo_ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
name_joint_6
name_joint_7
name_joint_gripper_finger_a
name_joint_gripper_finger_b
joint_1_lower_limit
joint_1_upper_limit
joint_2_lower_limit
Expand Down Expand Up @@ -113,7 +114,15 @@
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>
<joint name="${name_joint_gripper_finger_b}">
<param name="mimic">${name_joint_gripper_finger_a}</param>
<param name="multiplier">1</param>
<command_interface name="position"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
<state_interface name="effort"/>
</joint>

</ros2_control>
</xacro:macro>
</robot>
</robot>
2 changes: 1 addition & 1 deletion urdf/crane_x7.ros2_control.xacro
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Expand Up @@ -134,4 +134,4 @@

</ros2_control>
</xacro:macro>
</robot>
</robot>
1 change: 1 addition & 0 deletions urdf/crane_x7.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -256,6 +256,7 @@
name_joint_6="${NAME_JOINT_6}"
name_joint_7="${NAME_JOINT_7}"
name_joint_gripper_finger_a="${NAME_JOINT_GRIPPER_FINGER_A}"
name_joint_gripper_finger_b="${NAME_JOINT_GRIPPER_FINGER_B}"
joint_1_lower_limit="${JOINT_1_LOWER_LIMIT}"
joint_1_upper_limit="${JOINT_1_UPPER_LIMIT}"
joint_2_lower_limit="${JOINT_2_LOWER_LIMIT}"
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9 changes: 9 additions & 0 deletions urdf/crane_x7_wide_two_finger_gripper.xacro
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Expand Up @@ -78,6 +78,15 @@
</inertial>
</link>

<!--Dummy joint/link to prevent error with mimic joint
See https://github.com/ros-controls/gazebo_ros2_control/issues/173
-->
<joint name="${name_joint_gripper_finger_b}_mimic" type="fixed">
<parent link="world" />
<child link="dummy_mimic_fix" />
</joint>
<link name="dummy_mimic_fix"/>

<joint name="${name_joint_gripper_finger_b}" type="revolute">
<origin xyz="0.012 0.0 0.024" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
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