Gripper Action Controller
Controller for executing a gripper command action for simple single-dof grippers.
Parameters
This controller uses the generate_parameter_library to handle its parameters.
- action_monitor_rate (double)
Hz
Default: 20.0
Constraints:
greater than or equal to 0.1
- joint (string)
Default: “”
- goal_tolerance (double)
Default: 0.01
Constraints:
greater than or equal to 0.0
- max_effort (double)
Max allowable effort
Default: 0.0
Constraints:
greater than or equal to 0.0
- allow_stalling (bool)
Allow stalling will make the action server return success if the gripper stalls when moving to the goal
Default: false
- stall_velocity_threshold (double)
stall velocity threshold
Default: 0.001
- stall_timeout (double)
stall timeout
Default: 1.0