Niko/UR_Robotiq
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smooth movement of the gripper

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This commit is contained in:
NikoFeith 2024-05-14 18:16:45 +02:00
parent c891c2c741
commit 1ffa81cfba
2 changed files with 4 additions and 4 deletions
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4
src/ur_robotiq_servo/config/ps5-params.yaml
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@ -1,7 +1,7 @@
ps5_servo_node: ps5_servo_node:
ros__parameters: ros__parameters:
linear_speed_multiplier: 0.5 linear_speed_multiplier: 0.5
gripper_position_multiplier: 0.006 gripper_position_multiplier: 0.01
gripper_cycle_time: 0.01 gripper_cycle_time: 0.25
gripper_lower_limit: 0.0 gripper_lower_limit: 0.0
gripper_upper_limit: 0.14 gripper_upper_limit: 0.14

4
src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py
View File

@ -124,7 +124,7 @@ class PS5ControllerNode(Node):
def publish_gripper_command(self): def publish_gripper_command(self):
if self.gripper_cmd is not None: if self.gripper_cmd is not None:
self.get_logger().debug(f'Publishing gripper command: {self.gripper_cmd}')
new_gripper_position = self.gripper_cmd + self.last_gripper_gap new_gripper_position = self.gripper_cmd + self.last_gripper_gap
if new_gripper_position >= self.gripper_upper_limit: if new_gripper_position >= self.gripper_upper_limit:
new_gripper_position = self.gripper_upper_limit new_gripper_position = self.gripper_upper_limit
@ -135,7 +135,7 @@ class PS5ControllerNode(Node):
self.gripper_cmd = 0.0 self.gripper_cmd = 0.0
gripper_msg = ForwardCommand() gripper_msg = ForwardCommand()
gripper_msg.position = new_gripper_position gripper_msg.position = new_gripper_position
gripper_msg.max_velocity = 0.1 gripper_msg.max_velocity = 0.01
gripper_msg.max_effort = 235.0 gripper_msg.max_effort = 235.0
self.gripper_cmd_pub.publish(gripper_msg) self.gripper_cmd_pub.publish(gripper_msg)
else: else: