From 2150d01e355332dbd5e4175361260cc88a656b16 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 10 Mar 2022 19:34:17 +0100
Subject: [PATCH] ROS distribution compatibility update
---
config/franka_gripper_node.yaml | 6 +++---
launch/franka_gripper.launch | 2 ++
package.xml | 2 +-
src/franka_gripper.cpp | 1 -
src/franka_gripper_node.cpp | 9 +++++++++
5 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/config/franka_gripper_node.yaml b/config/franka_gripper_node.yaml
index 8f638ec..687e5d3 100644
--- a/config/franka_gripper_node.yaml
+++ b/config/franka_gripper_node.yaml
@@ -1,5 +1,5 @@
publish_rate: 30 # [Hz]
-default_speed: 0.08 # [m/s]
+default_speed: 0.1 # [m/s]
default_grasp_epsilon:
- inner: 0.01 # [m]
- outer: 0.01 # [m]
+ inner: 0.005 # [m]
+ outer: 0.005 # [m]
diff --git a/launch/franka_gripper.launch b/launch/franka_gripper.launch
index d566563..92a476e 100644
--- a/launch/franka_gripper.launch
+++ b/launch/franka_gripper.launch
@@ -1,11 +1,13 @@
<?xml version="1.0" ?>
<launch>
<arg name="robot_ip" />
+ <arg name="stop_at_shutdown" default="false" />
<arg name="arm_id" default="panda" />
<arg name="joint_names" default="[$(arg arm_id)_finger_joint1, $(arg arm_id)_finger_joint2]" />
<node name="franka_gripper" pkg="franka_gripper" type="franka_gripper_node" output="screen">
<param name="robot_ip" value="$(arg robot_ip)"/>
+ <param name="stop_at_shutdown" value="$(arg stop_at_shutdown)" />
<rosparam command="load" file="$(find franka_gripper)/config/franka_gripper_node.yaml" />
<rosparam param="joint_names" subst_value="true">$(arg joint_names)</rosparam>
</node>
diff --git a/package.xml b/package.xml
index cf1e314..85d48ae 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>franka_gripper</name>
- <version>0.7.0</version>
+ <version>0.8.2</version>
<description>This package implements the franka gripper of type Franka Hand for the use in ros</description>
<maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
<license>Apache 2.0</license>
diff --git a/src/franka_gripper.cpp b/src/franka_gripper.cpp
index 2864728..59970d5 100644
--- a/src/franka_gripper.cpp
+++ b/src/franka_gripper.cpp
@@ -33,7 +33,6 @@ void gripperCommandExecuteCallback(
double default_speed,
actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* action_server,
const control_msgs::GripperCommandGoalConstPtr& goal) {
-
auto gripper_command_handler = [goal, grasp_epsilon, default_speed, &gripper]() {
// HACK: As one gripper finger is <mimic>, MoveIt!'s trajectory execution manager
// only sends us the width of one finger. Multiply by 2 to get the intended width.
diff --git a/src/franka_gripper_node.cpp b/src/franka_gripper_node.cpp
index 3b48a19..fd83ba0 100644
--- a/src/franka_gripper_node.cpp
+++ b/src/franka_gripper_node.cpp
@@ -152,6 +152,12 @@ int main(int argc, char** argv) {
return -1;
}
+ bool stop_at_shutdown(false);
+ if (!node_handle.getParam("stop_at_shutdown", stop_at_shutdown)) {
+ ROS_INFO_STREAM("franka_gripper_node: Could not find parameter stop_at_shutdown. Defaulting to "
+ << std::boolalpha << stop_at_shutdown);
+ }
+
franka::GripperState gripper_state;
std::mutex gripper_state_mutex;
std::thread read_thread([&gripper_state, &gripper, &gripper_state_mutex]() {
@@ -188,5 +194,8 @@ int main(int argc, char** argv) {
rate.sleep();
}
read_thread.join();
+ if (stop_at_shutdown) {
+ gripper.stop();
+ }
return 0;
}
--
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