I am following this https://answers.ros.org/question/243080/need-help-to-trigger-the-vacuum-gripper/ to implement a vacuum gripper for my custom robot. I found out that I need to add other links to my robot at the end effector. These links must be attached to the end effector via 'revolute' joints, something like this:

    <link name="vacuum_gripper1">
        <origin rpy="0 0 0" xyz="0 0 0"/>
          <box size="0.01 0.01 0.01"/>
        <material name="transparent">
          <color rgba="0 0 0 0"/>
        <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
        <mass value="0.0001"/>
        <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>

    <joint name="gripper_joint1" type="revolute">
      <parent link="link_vac" />
      <child link="vacuum_gripper1" />
      <origin rpy="0 0 0" xyz="0.135 0.09 -0.0355" />
      <axis xyz="1 0 0" />
      <limit effort="50" velocity="50" lower="0" upper="0" />
      <dynamics damping="0.0" friction="10"/>

      <plugin name="gazebo_ros_vacuum_gripper1" filename="libgazebo_ros_vacuum_gripper.so">

My question is, do I have to add the transmissions and the controllers for these joints? Maybe I should mention that whether I add them or not, the gripper does not work. But when I don't add them, I have this warning:

The complete state of the robot is not yet known.  Missing gripper_joint1,...


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Browse other questions tagged or ask your own question.