Merge pull request #35 from AcutronicRobotics/ai-fix-gripper

Fix gripper vibrations [WIP]
AcutronicRobotics · Mar 18, 2019 · beaf4e9 · beaf4e9
2 parents 8225502 + 0885bb9
commit beaf4e9
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Showing 5 changed files with 22 additions and 20 deletions.
diff --git a/mara-ros2.repos b/mara-ros2.repos
@@ -30,9 +30,8 @@ repositories:
   robotiq_modular_gripper:
     type: git
     url: https://github.com/AcutronicRobotics/robotiq_modular_gripper.git
-    version: 555f770
+    version: master
   hans_modular_servomotor:
     type: git
     url: https://github.com/AcutronicRobotics/hans_modular_servomotor.git
     version: master
-
diff --git a/mara_description/urdf/mara_robot_gripper_140.urdf b/mara_description/urdf/mara_robot_gripper_140.urdf
@@ -761,11 +761,11 @@
         </limit>
       </axis>
     </joint>
-    <plugin filename="librobotiq_angular_gripper_gazebo_plugin.so" name="robotiq_140_gripper">
-      <left_joint>left_inner_knuckle_joint</left_joint>
-      <left_joint>left_outer_knuckle_joint</left_joint>
-      <right_joint>right_inner_knuckle_joint</right_joint>
-      <right_joint>joint_finger</right_joint>
+    <plugin filename="librobotiq_gripper_gazebo_plugin.so" name="robotiq_140_gripper">
+      <joint>left_inner_knuckle_joint</joint>
+      <joint>left_outer_knuckle_joint</joint>
+      <joint>right_inner_knuckle_joint</joint>
+      <joint>joint_finger</joint>
     </plugin>
   </gazebo>
   <link name="table">

diff --git a/mara_description/urdf/mara_robot_gripper_140_run.urdf b/mara_description/urdf/mara_robot_gripper_140_run.urdf
@@ -761,11 +761,11 @@
         </limit>
       </axis>
     </joint>
-    <plugin filename="librobotiq_angular_gripper_gazebo_plugin.so" name="robotiq_140_gripper">
-      <left_joint>left_inner_knuckle_joint</left_joint>
-      <left_joint>left_outer_knuckle_joint</left_joint>
-      <right_joint>right_inner_knuckle_joint</right_joint>
-      <right_joint>joint_finger</right_joint>
+    <plugin filename="librobotiq_gripper_gazebo_plugin.so" name="robotiq_140_gripper">
+      <joint>left_inner_knuckle_joint</joint>
+      <joint>left_outer_knuckle_joint</joint>
+      <joint>right_inner_knuckle_joint</joint>
+      <joint>joint_finger</joint>
     </plugin>
   </gazebo>
   <link name="table">

diff --git a/mara_description/urdf/mara_robot_gripper_85.urdf b/mara_description/urdf/mara_robot_gripper_85.urdf
@@ -764,11 +764,11 @@
         </limit>
       </axis>
     </joint>
-    <plugin filename="librobotiq_angular_gripper_gazebo_plugin.so" name="robotiq_85_gripper">
-      <left_joint>left_inner_knuckle_joint</left_joint>
-      <left_joint>left_outer_knuckle_joint</left_joint>
-      <right_joint>right_inner_knuckle_joint</right_joint>
-      <right_joint>joint_finger</right_joint>
+    <plugin filename="librobotiq_gripper_gazebo_plugin.so" name="robotiq_85_gripper">
+      <joint>left_inner_knuckle_joint</joint>
+      <joint>left_outer_knuckle_joint</joint>
+      <joint>right_inner_knuckle_joint</joint>
+      <joint>joint_finger</joint>
     </plugin>
   </gazebo>
   <link name="table">

diff --git a/mara_description/urdf/mara_robot_gripper_hande.urdf b/mara_description/urdf/mara_robot_gripper_hande.urdf
@@ -523,9 +523,12 @@
     <selfCollide>True</selfCollide>
   </gazebo>
   <gazebo>
-    <plugin filename="librobotiq_linear_gripper_gazebo_plugin.so" name="robotiq_hande_gripper">
-      <left_joint>joint_finger</left_joint>
-      <right_joint>finger2_joint</right_joint>
+    <plugin filename="librobotiq_gripper_gazebo_plugin.so" name="robotiq_hande_gripper">
+      <kp>10</kp>
+      <ki>3</ki>
+      <kd>5</kd>
+      <joint>finger1_joint</joint>
+      <joint>finger2_joint</joint>
     </plugin>
   </gazebo>
   <joint name="joint_finger" type="prismatic">