katana_driver: katana | katana_arm_gazebo | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_msgs | katana_teleop | katana_trajectory_filter | katana_tutorials | kni
Package Summary
This package provides Gazebo plugins to simulate the Katana arm.
- Author: Martin Günther
- License: GPL
- Repository: uos-ros-pkg
- Source: git http://kos.informatik.uni-osnabrueck.de/uos-ros-pkg.git
Contents
Available Plugins
Currently, there is only one plugin available that simulates the gripper. See packages katana_description and katana_arm_gazebo for usage examples and for information on the Gazebo parameters (not documented here).
gazebo_ros_katana_gripper
Action Goal
posture_action_name/goal (object_manipulation_msgs/GraspHandPostureExecutionActionGoal)- Enables one to open or close the gripper via the GRASP or RELEASE command or to move the gripper to a arbitrary position choosing the PRE-GRASP option.
Action Result
posture_action_name/result (object_manipulation_msgs/GraspHandPostureExecutionActionResult)- Result of the manipulation task.
Published Topics
gripper_controller_state (katana_msgs/GripperControllerState)- The actual position, desired position and error in position of each gripper joint.
Services
grasp_query_name (object_manipulation_msgs/GraspStatus)- Asks if a grasp is currently active. Used to query if the object is still detected as present in the hand, using joint angles.
Parameters
~gripper_object_presence_threshold (double, default: -0.43)- A joint angle below this value indicates there is nothing inside the gripper.