Is it possible to control the velocity (effort) of a PR2's gripper? So instead giving the position of the gripper, calculating the IK etcetc, I would like to give the velocity of the gripper as a vector and the arm will move accordingly until told otherwise.
Originally posted by Lorenzo Riano on ROS Answers with karma: 1342 on 2012-01-26
Post score: 0
There is CartesianTwistController in robot_mechanism_controllers which should do exactly what you want. I don't know if there is a working configuration/launch file for PR2 though. But I think it shouldn't be too hard to configure.
Originally posted by Lorenz with karma: 22731 on 2012-01-26
This answer was ACCEPTED on the original site
Post score: 2
Comment by Lorenzo Riano on 2012-01-26:
Great, I knew it was somewhere. I'll try it, many thanks