pr2_object_manipulation: pr2_gripper_fingersensor_action | pr2_gripper_grasp_controller | pr2_gripper_grasp_planner_cluster | pr2_gripper_reactive_approach | pr2_gripper_sensor_action | pr2_gripper_sensor_controller | pr2_gripper_sensor_msgs | pr2_object_manipulation_launch | simple_Jtranspose_controller | slipgrip_controller
Package Summary
The pr2_gripper_fingersensor_action provides an action interface for using the gripper and fingertip pressure sensors.
- Author: Joe Romano
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/arm_navigation_0_3/pr2_gripper_fingersensor_action
Contents
Ad-hoc structural review (08/03)
Replacemnt package for pr2_gripper_action which adds additional functionality.
- fingersensor -> _sensor - slipgrip_controller -> pr2_gripper_sensor_controller - just call it controller and move actions into controller directory
- all action definitions should go in pr2_gripper_sensor_msgs
- add in seperate zero SERVICE zero_fingertip_sensors. return timestamp.
- force control action should return succeeded when the state of force control is succesfully entered and force achieved. - need to handle all states. such as not touching the tactile sensors
- change "place" to "gripper_sensor_event_detector"
- need to ensure that each action monitors controller state and handles changes appropriately.
- add in messages for state variables that define the different states
- higher level action to just grab stuff. smash state machine to string together
- all finger forces should be something like "fingertip_force".
- call motor effort something like "joint_effort" always
- slip servo should continue forver and give feedback
- add in "motors off" service and have all canceled actions fall back to this