I have a robot configuration with an UR10 robot and a Robotiq 2F-140 gripper in ROS and Gazebo and when I try to control the gripper to open or close it, it does not work. I am a new ROS user and maybe I am making a mistake when I declare the properties of the robot when using MoveIt Setup Assistant. Here I leave the terminal report:
This code block was moved to the following github gist: https://gist.github.com/answers-se-migration-openrobotics/608a606c8b2755679e63af0c18ea0721
Thanks in advance for your help.
Edit: I know that the question may not be done good enough. So I am going to explain a little more my problem. I am trying to conect a simulation with MoveIt and Gazebo using a UR10 robot and a 2F-140 (2 fingers Robotiq Gripper). The point is that when I try to move it from MoveIt using the plannification tool of RVIZ, It comes to an ERROR. I've already made this tutorial: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html
And I see that the gripper fingers moves when you launch the demo.launch file. But when I try to do it with the UR10 robot and 2F-140 gripper, it does not work and I believe that I have made a proper config for the controllers. As it is written in the tutorial example, I have set up the controller in the following way:
- name: hand_controller action_ns: gripper_cmd
gripper_cmd type: GripperCommand
default: true
joints:
- finger_joint
So, how can I launch that GripperCommand on a simulation with Gazebo and MoveIt in order to move the joints of the gripper propperly? I have to say that the UR10 robot moves itself without a problem. Thanks for your help.
Originally posted by drodgu on ROS Answers with karma: 59 on 2019-06-20
Post score: 0