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Gripper Action Controller
Controllers for executing a gripper command action for simple single-dof grippers:
position_controllers/GripperActionControllereffort_controllers/GripperActionController
Parameters
These controllers use the generate_parameter_library to handle its parameters. The parameter definition file located in the src folder contains descriptions for all the parameters used by the controller.
List of 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
An example parameter file
gripper_action_controller:
ros__parameters:
action_monitor_rate: 20.0
allow_stalling: false
goal_tolerance: 0.01
joint: ''
max_effort: 0.0
stall_timeout: 1.0
stall_velocity_threshold: 0.001