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